Trajectory planning and speed control for a two-link rigid manipulator

被引：5
|
作者：
Fotouhi-C, R [1 ]
Szyszkowski, W [1 ]
Nikiforuk, PN [1 ]
机构：
[1] Univ Saskatchewan, Saskatoon, SK S7N 5A9, Canada
来源：
JOURNAL OF MECHANICAL DESIGN | 2002年 / 124卷 / 03期
关键词：
D O I：
10.1115/1.1481362
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A two-phase trajectory planning for a two-link rigid manipulators was presented. The motion constraints were met using a linear scaling of the time variable. The approach was applied to speed control using a nonlinear scaling of the time variable. It was demonstrated that the specified velocity profile can be followed very closely. The results showed the convergence and effectiveness of the path planning approach.
引用
收藏
页码：585 / 589
页数：5
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