A precision control system for industrial robotic arms featuring advanced motion planning, real-time trajectory optimization, and high-accuracy positioning for manufacturing applications.
Control System Design
- 6-DOF inverse kinematics solver using Jacobian pseudoinverse
- PID-based joint position control with feedforward compensation
- Trapezoidal velocity profiling for smooth motion
- Collision detection using swept volume analysis
- Real-time trajectory interpolation at 1kHz control loop
Motion Planning
- RRT* path planning for obstacle avoidance
- Cartesian space linear and circular interpolation
- Joint space optimization for singularity avoidance
- Dynamic obstacle replanning capability
Hardware Integration
- High-precision servo motors with encoder feedback
- Force/torque sensing for compliant manipulation
- End-effector tool changer support