Chapter 8 — Motion Control

Sensor-based online trajectory generation

The video shows the movements of a position-controlled 6-DOF industrial-robot arm equipped with a distance sensor at its end-effector. The task of the robot is to draw a rectangle on the table, while the force on the table is controlled by a force controller which acts only orthogonally to the table surface. The dimensions of the rectangle are determined by the obstacles in the robot's environment. If the obstacles are moved, the distance sensor triggers the execution of a new trajectory segment which is computed within one control cycle (1 ms), so that it can be instantly executed.
Torsten Kröger
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