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

Resultado de la investigación: Contribución a una revistaArtículo

9 Citas (Scopus)


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.
Idioma originalInglés estadounidense
Páginas (desde-hasta)407-418
Número de páginas365
PublicaciónISA Transactions
EstadoPublicada - 1 ene 2006

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