Determination of Maximum Tangential Velocity at Trajectory Corners in Robot Manipulator Operation Under Torque Constraint

Abstract

This research addresses the trajectory tracking problem of industrial robot manipulators, at the corners of a Cartesian three-dimensional trajectory. The goal is to determine the maximum tangential velocity of the end-effector as it traverses a circular arc at a trajectory corner while avoiding joint acceleration saturation. The proposed method first derives the relationship between end-effector velocity and joint accelerations, and then develops a criterion to determine maximum tangential velocity so that only one joint marginally reaches its acceleration limit at a single point on the circular arc. The method was successfully experimented, and improved performance has been demonstrated.