A PATH ALGORITHM FOR ROBOTIC MACHINING

A path tracking algorithm for robotic continuous path machining is pre sented in this paper. The concept is to preadapt the path parameters b efore path tracking. The path concept itself arises from CNC machines so that a continuous path to be tracked/machined is built up from basi c path types such as straight line, circular arc and parabola. Exact c urve equations are used as tracking bases and a velocity correction wh ich is created from the actual position error is added to the original desired path velocity. So a kind of cascaded path rate control and co mputed torque tracking is possible to produce a precise continuous pat h. An adaptive control is also proposed to support the path regulation with a tracking and an adaptation law. Simulation shows that the prop osed algorithms yield better path precision than the pure computed tor que method in three-dimensional path tracking/machining. And adaptive path regulation yields even better results.