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Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/E18E7CD6-5092-4C0F-9FEB-01030AFE9C01 | ||
| Year | 1992 | ||
| Type of Item | Peer-Reviewed Journal Publication | ||
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| Bibliographic Citation | S. G. Tzafestas ,B. Kalobatsos ,G.Stavrakakis , A. Zagorianos ," Some results on the autonomous trajectory generation and adaptive control of industrial robots," J. of the Franklin Insti.,vol. 329,no.1 ,pp. 1-14,1992. doi: 10.1016/0016-0032(92)90091-T https://doi.org/10.1016/0016-0032(92)90091-T | ||
| Appears in Collections |
Part I of this paper presents a study of an autonomous trajectory generation system (ATGS) which is useful for industrial robots carrying out mechanical operations. It is a very simple job with such an ATGS to generate planar curved trajectories f(x, y) = 0, an attractive factor in such applications. Two alternative variations of the ATGS are presented which possess particular characteristics. Part II deals with the trajectory control problem and uses the ATGS as a first stage of a model reference adaptive control loop of a robot. The theoretical results are illustrated by simulation examples worked out using the software packages developed for this purpose.
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