Resumen
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.
Idioma original | Inglés |
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Páginas (desde-hasta) | 407-418 |
Número de páginas | 12 |
Publicación | ISA Transactions |
Volumen | 45 |
N.º | 3 |
DOI | |
Estado | Publicada - jul. 2006 |