Coordinated jogging algorithm for general serial robot architectures

The paper deals with a novel functional block for general serial robot coordinate jogging. The functional block is implemented and integrated to the functional block library of the real-time control system REXYGEN and brings new possibilities of rapid prototyping and initial testing of advanced robot architectures. The robot kinematics is described by the Denavit-Hartenberg parameters. The common jogging mode of operation (world, tool) is supported as well as user-defined coordinate frames definition for specific applications. In the case of kinematic redundancy, the internal robot motion optimization is available allowing joint position limitation and/or obstacle avoidance. Maximum allowed joint velocity is taken into account in order to cope with the kinematic singularities. Illustrative examples of the early-prototype robot for industrial inspection purposes are introduced and universality of the proposed jogging functional block is verified.