A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories

Javier Moreno-Valenzuela; Ernesto Orozco-Manríquez

doi:10.1007/s12206-009-1006-z

A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories

Javier Moreno-Valenzuela, Ernesto Orozco-Manríquez

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time-scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach.

Original language	English
Pages (from-to)	3221-3231
Number of pages	11
Journal	Journal of Mechanical Science and Technology
Volume	23
Issue number	12
DOIs	https://doi.org/10.1007/s12206-009-1006-z
State	Published - Dec 2009

Keywords

Constrained torques
Motion control
Robot manipulator
Stability
Time-scaling

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10.1007/s12206-009-1006-z

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abstract = "We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time-scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach.",

keywords = "Constrained torques, Motion control, Robot manipulator, Stability, Time-scaling",

author = "Javier Moreno-Valenzuela and Ernesto Orozco-Manr{\'i}quez",

note = "Funding Information: This work was supported by Secretar{\'i}a de Investigaci{\'o}n y Posgrado del IPN, grant SIP-20090214, and by CONACyT, Mexico.",

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AU - Moreno-Valenzuela, Javier

AU - Orozco-Manríquez, Ernesto

N1 - Funding Information: This work was supported by Secretaría de Investigación y Posgrado del IPN, grant SIP-20090214, and by CONACyT, Mexico.

PY - 2009/12

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N2 - We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time-scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach.

AB - We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time-scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach.

KW - Constrained torques

KW - Motion control

KW - Robot manipulator

KW - Stability

KW - Time-scaling

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DO - 10.1007/s12206-009-1006-z

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JO - Journal of Mechanical Science and Technology

JF - Journal of Mechanical Science and Technology

IS - 12

ER -

A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories

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Keywords

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