Abstract
As a high accuracy trajectory control technique for manipulators, the Autonomous Trajectory Generating Servomechanism (ATGS) has been proposed. Since the ATGS has a function in the algorithm to recover trajectories when they deviate from the nominal paths and the rate-servomechanism in the ATGS has inherently a capability to restrain the influence of disturbances by the effect of feedback, the trajectory generated by the ATGS is robust against the effects due to the dynamics of manipulators and/or parameter changes of systems. In this paper, the ATGS is extended to generate the spatial curve defined by the intersection of a pair of surfaces. Moreover, a trajectory generating method including the orientation control of end-effector is presented. Finally, the trajectory control method is implemented and tested in a real articulated manipulator. The experimental results confirmed the effectiveness of the method proposed in this research.
