Time-scaling of trajectories for point-to-point robotic tasks.
In order to improve the tracking performance in the practical robot task of time-optimal point-to-point motion when torque limits and model uncertainty are present, in this paper is introduced an algorithm for on-line time-scaling of the desired trajectories, which is used along with a conventional trajectory tracking controller. Numerical examples for a two-degrees-of-freedom arm are provided, which illustrate the tracking accuracy of the proposed method.
Moreno-Valenzuela
Javier
J
Centro de Investigación y Desarrollo de Tecnología Digital, CITEDI-IPN, Mesa de Otay, Tijuana, Mexico. moreno@citedi.mx
D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D016014:Linear Models; D009038:Motion; D011786:Quality Control; D012371:Robotics / Q000379:methods*; D013598:Systems Theory; D013647:Task Performance and Analysis