TY - GEN
T1 - Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques
AU - Moreno-Valenzuela, Javier
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33845673554&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641155
DO - 10.1109/ROBOT.2006.1641155
M3 - Contribución a la conferencia
AN - SCOPUS:33845673554
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 19
EP - 24
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -