A benchmark study on the planning and control of industrial robots with elastic joints

Joonyoung Kim, Elizabeth A. Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

1 Citation (Scopus)


In this paper, we perform a comparative study of methods for improving motion performance of industrial robots. The compared methods address trajectory planning, trajectory preshaping, and feedforward control. Simulations are performed using a realistic 2DOF dynamic model with elastic joints. The simulation results demonstrate that the trajectory improvements may not be sufficient to obtain the required motion accuracy for industrial robots operating at high speeds due to the high nonlinearity of the system. We show that an improved performance may be achieved through nonlinear feedforward control even if the reference trajectory is planned using a trapezoidal velocity profile generator.

Original languageEnglish
Title of host publicationAIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781467391078
Publication statusPublished - 25 Aug 2015
Externally publishedYes
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2015 - Busan, Korea, Republic of (South)
Duration: 7 Jul 201511 Jul 2015
Conference number: 14th
http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7190945 (Proceedings)


ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2015
Abbreviated titleAIM 2015
CountryKorea, Republic of (South)
Internet address

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