Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques

Javier Moreno-Valenzuela

doi:10.1109/ROBOT.2006.1641155

Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques

Javier Moreno-Valenzuela

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 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. Simulations are presented to illustrate the advantages of the proposed approach.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	19-24
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641155
State	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	15/05/06 → 19/05/06

Access to Document

10.1109/ROBOT.2006.1641155

Cite this

Moreno-Valenzuela, J. (2006). Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 19-24). Article 1641155 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641155

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title = "Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques",

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. Simulations are presented to illustrate the advantages of the proposed approach.",

author = "Javier Moreno-Valenzuela",

year = "2006",

doi = "10.1109/ROBOT.2006.1641155",

language = "Ingl{\'e}s",

isbn = "0780395069",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "19--24",

booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",

}

Moreno-Valenzuela, J 2006, Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641155, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 19-24, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641155

Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques. / Moreno-Valenzuela, Javier.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 19-24 1641155 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques

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