Abstract
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.
Original language | English |
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Pages (from-to) | 407-418 |
Number of pages | 12 |
Journal | ISA Transactions |
Volume | 45 |
Issue number | 3 |
DOIs | |
State | Published - Jul 2006 |
Keywords
- Constrained input
- Point-to-point motion
- Robot manipulator
- Stability
- Time-scaling