Resumen
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.
Idioma original | Inglés |
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Páginas (desde-hasta) | 3221-3231 |
Número de páginas | 11 |
Publicación | Journal of Mechanical Science and Technology |
Volumen | 23 |
N.º | 12 |
DOI | |
Estado | Publicada - dic. 2009 |