DocumentCode
2089783
Title
Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques
Author
Valenzuela, Javier Moreno
Author_Institution
Centre de Investigacion y Desarrollo de Tecnologia Digital del IPN, Tijuana
fYear
2006
fDate
15-19 May 2006
Firstpage
19
Lastpage
24
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
Keywords
manipulators; position control; torque; tracking; constrained torques; online time-scaled trajectories; robot manipulators; trajectory tracking control; Acceleration; Actuators; Friction; Manipulator dynamics; Orbital robotics; Robots; Torque control; Trajectory; Uncertainty; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641155
Filename
1641155
Link To Document