Analysis and Prediction of Motion Trajectories of a Collaborative Robot

Collaboration of robotic complex and a human operator sets a task of prevention of contacts and collides between robotic links and human body. To solve this task one needs to know not only their positions at every moment but also a prediction for a certain time interval. However, control programs and motion laws fulfilled by the programs may be known not for all the parts of a robotic complex. In this article the method of prediction of a robotic complex link position is developed that does not demand a priori information on the complex structure and links motion laws. The method is based on so-called canonization of matrixes constructed from the accumulated information on previous link positions. Canonization means evaluation of matrix zero and unit devisors. The method is applicable to robotic complexes with linear control systems. The set of functions in Matlab environment are developed to evaluate the prediction. The examples of simulation for some robotic structures are given.

Keywords

collaborative robots; trajectory prediction; linear system identification; matrix canonization; matrix zero divisor.

References

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