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

Research output: Contribution to conferencePaperResearch

7 Citations (Scopus)

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. © 2006 IEEE.
Original languageAmerican English
Pages19-24
Number of pages16
DOIs
StatePublished - 27 Dec 2006
Externally publishedYes
EventProceedings - IEEE International Conference on Robotics and Automation -
Duration: 1 Dec 2011 → …

Conference

ConferenceProceedings - IEEE International Conference on Robotics and Automation
Period1/12/11 → …

Fingerprint

robots
Manipulators
torque
manipulators
Torque
Trajectories
trajectories
Robots
controllers
saturation
scaling
Controllers
simulation

Cite this

Moreno-Valenzuela, J. (2006). Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques. 19-24. Paper presented at Proceedings - IEEE International Conference on Robotics and Automation, . https://doi.org/10.1109/ROBOT.2006.1641155
Moreno-Valenzuela, Javier. / Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques. Paper presented at Proceedings - IEEE International Conference on Robotics and Automation, .16 p.
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Moreno-Valenzuela, J 2006, 'Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques' Paper presented at Proceedings - IEEE International Conference on Robotics and Automation, 1/12/11, pp. 19-24. 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.

2006. 19-24 Paper presented at Proceedings - IEEE International Conference on Robotics and Automation, .

Research output: Contribution to conferencePaperResearch

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