Control of Manipulator Motion along Non-Linear Trajectory

The proposed method allows realizing the motion of manipulator jaws along non-linear trajectory in workspace using only standard means of position control. The necessity in such control appears in some assembly operations when time of motion must be reduced and little deviations from trajectory are permitted. The position control is preferable in these conditions as soon as it makes possible the motion with maximal velocities. The method (named method of virtual velocities) is based on ability of position control to assign new values of velocities when manipulator is reached defined neighborhood of program position. It makes possible the realization of non-linear accelerating of degree of freedoms and complicated trajectory of motion in result. The accomplished experiments show that proposed control allows to reduce the time of motion in comparison with trajectory control and to achieve acceptable accuracy of trajectory.