A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories

被引：10
|
作者：
Moreno-Valenzuela, Javier [1 ]
Orowo-Manriquez, Ernesto [1 ]
机构：
[1] IPN, Ctr Invest & Desarrollo Tecnol Digital, CITEDI, Tijuana 22510, BC, Mexico
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2009年 / 23卷 / 12期
关键词：
Motion control; Robot manipulator; Constrained torques; Time-scaling; Stability; PATH TRACKING CONTROL; SATURATION; ROBOT;
D O I：
10.1007/s12206-009-1006-z
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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. Experiments are presented to illustrate the advantages of the proposed approach.
引用
收藏
页码：3221 / 3231
页数：11
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