J. Moreno-Valenzuela (Mexico)
Pointtopoint motion; constrained input; robot ma nipulator; stability; timescaling.
This paper addresses the problem of robotic tasks con sisting in timeoptimal pointtopoint motion under limited torque input. This class of tasks can be per formed by the classical approach of trajectory tracking control using a minimumtime trajectory. However, the tracking of the timeoptimal trajectory leaves no control faculty to compensate for tracking errors en tailed by model uncertainties. In order to overcome the performance errors, in this paper is introduced an algorithm that search for online timescaling of the timeoptimal pointtopoint trajectory. A numer ical example for a two degreesoffreedom arm is pro vided, illustrating the tracking accuracy of the pro posed method.
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