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| A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories
Javier Moreno-Valenzuela/Ernesto Orozco-Manríquez
The Journal of Mechanical Science and Technology, vol. 23, no. 12, pp.3221-3231, 2009
Abstract : We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line timescaling
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.
Keyword : Motion control; Robot manipulator; Constrained torques; Time-scaling; Stability |
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