Time-scaling of trajectories for point-to-point robotic tasks

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In order to improve the tracking performance in the practical robot task of time-optimal point-to-point motion when torque limits and model uncertainty are present, in this paper is introduced an algorithm for on-line time-scaling of the desired trajectories, which is used along with a conventional trajectory tracking controller. Numerical examples for a two-degrees-of-freedom arm are provided, which illustrate the tracking accuracy of the proposed method. © 2006 ISA - The Instrumentation, Systems, and Automation Society.
Original languageAmerican English
Pages (from-to)407-418
Number of pages365
JournalISA Transactions
StatePublished - 1 Jan 2006


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