A TRAJECTORY GENERATOR WAS DEVELOPED TO UPGRADE THE RHINO XR-2 ROBOT FROM A ONE-SPEED SLEW MOTION ROBOT TO A CONTINUOUS-PATH CONTROLLED ROBOT. THE RESULTING TRAJECTORY GENERATOR GREATLY EXPANDED THE CAPABILITIES OF THE RHINO BY ALLOWING IT TO SMOOTHLY AND ACCURATELY EXECUTE BOTH JOINT AND CARTESIAN SPACE PATHS WITH 97% PATH TRACKING ACCURACY. A COMPUTING SCHEME WAS DEVELOPED AND ADDED WHICH GAVE THE ROBOT APPARENT VELOCITY CONTROL WITH A WORST CASE ERROR OF 14%. AN ACCURATE KINEMATIC AND DYNAMIC MODEL OF THE RHINO'S ARM WAS INCLUDED YIELDING AN ON-LINE MOTION ANALYZER WHICH GREATLY ENHANCED THE EDUCATIONAL VALUE OF THE ROBOT.
