another. A hint for selecting the motion
primitive can be derived from the analysis
of an incremental motion problem.
5.5.- Point to point planning.
In multiple applications, the route is
described in terms of a number of points greater
than two. For example, even for the
simple point-to-point movement of a pick-
and-place task, it may be worth assigning
two uncertain points between the start point and
the endpoint. Convenient positions can be set to
lift and lower the object, so reduced
speeds are obtained with respect to the
direct transfer of the object. For more
complex applications, it may be desirable to
assign a sequence of points with the aim of ensuring
better monitoring of the routes executed; the
points must be specified with higher density in
those segments of the route where
obstacles have to be avoided or where a
high route curvature is expected. It should
not be forgotten that the corresponding
joint variables werecalled with settings of
the Cartesian space.
U6 Computers for robots
6.1.- Computing speed
There are a number of algorithms to control
the different aspects of a
robot'smovements, for which it will
demonstrate how complex calculations in these
algorithms can be ejcuted within a short time.
Ways to organize software and hardware to meet
goals will also be seen.
6.1.1 Software stream-up
This subsection will address techniques to
increase the calculation speed on a
conventional computer. These techniques take
advantage of the unique properties of many
calculations that are necessary for the
control of robots.
1.
2.
3.
The use of integer arithmetic
Computing trigonometric functions
Matrix operations
6.2.- Hardware requirements.
A separateprocessor is attached to the input
and output transducers of each joint. This
processor maintains the angular position and
current speed of this joint, and the servo-
powered positioning to the reference point
provided by the central processor. It reads
theAngular position of joint
processors,computes kinematic
transformations and provides reference
points to joint processors.
Because all kinematics are performed in the
sameprocess, the architecture providess
implementation of design and
programming, whilesloading simultaneous
control of joints to parallel processors.
6.3.- Control considerations.
The control system for monitoring the
activities of arobotic theme system shall be
equipped with a number of tools that offer the
following functions: