An Approach to Absolute Position Control Based on Object Coordinate

摘要

This paper describes accurate position control in an object coordinate system. When motion control of an industrial robot placed in a global coordinate system is taken to be in an object coordinate system, it is preferable and convenient to decide its motion by having the operator teach the robot. However, the teaching procedure requires considerable time and effort. Moreover, whenever the relative position between the robot and the object is changed, the operator needs to teach the operation again. To improve the above issue, a strategy that decides the robot motion without the teaching must be developed. This paper proposes a control strategy that does not require teaching and enables the creation of the desired motion without affecting the relative position error between the robot and the target object in object coordinate space defined by a PSD (Position Sensor Detector). In the proposed approach, the estimation algorithm of the kinetic transformation between the global and the object coordinates is introduced by using PSD output, and the error of coordinate transformation estimated by the proposed approach is compensated for in the global coordinate system. The validity of the proposed method is shown using simulations and experiments.