| |
|
|
|
|
|
|
| |
|
| |
 |
|
| |
|
|
| |
|
|
|
| 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
|
|
|
|
|
|
 |
|
|
|
|
|
| |
| |
| |
|
|
| |
|
JMST Editorial Office: #702 KSTC New Bldg, 22 7-gil, Teheran-ro, Gangnam-gu, Seoul 06130, Korea
TEL: +82-2-501-3605, E-mail: editorial@j-mst.org |
JMST Production Office: #702 KSTC New Bldg, 22 7-gil, Teheran-ro, Gangnam-gu, Seoul 06130, Korea
TEL: +82-2-501-6056, FAX: +82-2-501-3649, E-mail: editorial@j-mst.org |
|
| |
|
|
