There are two methods in robot motion control, point-to-point (PTP) control and continuous-path (CP) control. In CP control method, data which is consist of many knot points, are transferred to controller. Continuous path data are obtained by use of teaching pendant. But it is time-consuming process.
Off-line programming means the programming of robot that involves the writing of task programs, the running of simulations, and the collection and organization of data.
In this study, designing data of wire frame's line edge is transferred to the robot controller and then the end-effector traces the path. Designing data means AutoCAD Release 11 DXF file. To construct the continuous path between the given knot point, Chebyshev polynomial is used. A view of positioning accuracy, this method is compared with Taylor's bounded deviation paths algorithm method. And path tracking error according to arm configurations, that is work spaces, is considered. The robot used here is 6-axis anthropomorphic type robot made at Robotics LAB.
