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

被引：0
|
作者：
Javier Moreno-Valenzuela
Ernesto Orozco-Manríquez
机构：
[1] Centro de Investigación y Desarrollo de Tecnologa Digital del IPN,
[2] CITEDI-IPN,undefined
来源：
Journal of Mechanical Science and Technology | 2009年 / 23卷
关键词：
Motion control; Robot manipulator; Constrained torques; Time-scaling; Stability;
D O I：
暂无
中图分类号：
学科分类号：
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：10
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