Trajectory Planners for Cooperative Control of Two Industrial Robots and Belt Drives

This thesis focuses on trajectory planning strategies for high-speed, vibration restrained position control of belt drives and cooperative contour control of two robots in view of increasing the speed of cooperative task. The proposed solutions have been devised, implemented and verified for effective functionality. The trajectory planning in this context is carried out considering the relevant kinematic constraints met in actual practice; the maximum joint velocity constraints and the maximum joint accel-eration constraints. The proposed planners are based on the principles of kinematics and the trajectory planning scenarios and, the issues are critically reviewed. For belt driven machine, a fourth order kinematic model integrating belt reac-tion torque is systematically derived, and thereby explained the spiky phenomenon in velocity profile of motor position, when an acceleration change is experienced. Further, a feed forward dynamic compensator is proposed to restraint vibration and to improve dynamic characteristics of the belt drives. The proposed feed forward compensator is a combination of inverse dynamics of the system and a desirable dy