Accession Number : ADA190960

Title :   Path Following Robot.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Goodway, Steven G

PDF Url : ADA190960

Report Date : Dec 1987

Pagination or Media Count : 329

Abstract : Given a desired path to be followed by a Robot, a set of commands must be given to the Robot joint servos so that the Robot Tip, or Endpoint, can follow that path. These commands must be synchronized in time and scaled so as to maintain accuracy in the presence of possible saturations in the servos. This Thesis develops an algorithm to generate multiple simultaneous time varying commands to Robot joint positioning servos so that the Robot Tip will follow a desired path for the Cartesian and Articulated Robots. Keywords: Theses; Manipulators; Computerized simulation; Computer programs; Models.

Descriptors :   *ALGORITHMS, *COMPUTERIZED SIMULATION, *ROBOTS, *PATHS, ACCURACY, COMPUTER PROGRAMS, POSITION(LOCATION), SATURATION, SERVOMECHANISMS, THESES, MANIPULATORS, ROBOTICS, MOTION, MATHEMATICAL MODELS

Subject Categories : Cybernetics
      Computer Programming and Software

Distribution Statement : APPROVED FOR PUBLIC RELEASE