A Continuous Path Algorithm and its Implementation to a Micro Computer Controlled Industrial Robot

Abstract

<p>A continuous path algorithm involving real time co-ordinate transformation is suggested and implemented on a micro-computer for the purpose of controlling a five axes industrial robot. This software and the hardware aspects of the implementation are discussed. Good results prove the viability of the method.</p> <p>Another algorithm based on cubic spline approximation is briefly analyzed. The servo-drive and robot structural dynamic measurements.</p>