LAUSR

Abstract An industrial robot-manipulator with six degrees of freedom is considered. The essence is to track a given robot trajectory including detecting and avoiding obstacles in the manipulator’s path. The problem of controlling such a robot contains a wide spectrum of issues. The authors focused on the practical aspects of real-time control using simple optical sensors of robot motion. From the software side, the control is based on the penalty function and optimization of the quality criterion. Penalties are generated for errors in position and speed as well as for approaching obstacles. The dynamically modified penalty function becomes a tool for creating variable scenarios of robot maneuvers. Aspects of real-time robot operations are examined and illustrated with the jitter histograms.