The Experiment of Trajectory Tracking Control of Joint Manipulator with PC-Based
For the disadvantages of the poor open and high price of the special joint robot control system, a general PC-based three degree articulated robot control system is proposed. After modeling kinematics of the robot, the kinematics trajectory is planned and the trajectory algorithm is designed in a given error condition. Finally, the control program is done with VB, and it is verified by an example.
Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li
M. Q. Zhang et al., "The Experiment of Trajectory Tracking Control of Joint Manipulator with PC-Based", Applied Mechanics and Materials, Vols. 101-102, pp. 431-434, 2012