Path Constrained Robot Control with Limited Torques - Experimental Evaluation

Dahl, Ola

doi:10.1016/s1474-6670(17)48759-3

Cited by 12 publications

(13 citation statements)

References 2 publications

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“…A kinematic singular path tracing approach has been presented in [13], based on the null space-based method [14]. Using online trajectory time scaling, a dynamic and computed torque laws respectively, nearly time-optimal path tracking control for non-redundant robot manipulators has been presented in works [15,16]. Recently, a technique that avoids solving an inverse of the robot kinematic equations has been offered in [17,18] for determining a collision-free trajectory of redundant manipulators operating in both a static environment [17] and in a dynamic environment [18].…”

Section: Introductionmentioning

confidence: 99%

Path-constrained control of a redundant manipulator in a task space

Galicki

2006

Robotics and Autonomous Systems

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Section: Introductionmentioning

confidence: 99%

Path-constrained control of a redundant manipulator in a task space

Galicki

2006

Robotics and Autonomous Systems

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“…(2) and (3) allow to write the dynamic model in term of the curvilinear abscissa. 7 In fact, the joint position, velocity and acceleration vectors assume the following form in term of the path parameter s:…”

Section: Mathematical Backgroundmentioning

confidence: 99%

“…[7] represents one of the reference papers in the literature among the on-line scaling algorithms. In ref.…”

Section: Literature Comparisonmentioning

confidence: 99%

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Constrained motion planning for open-chain industrial robots

2010

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In the industrial environment, several constraints affect the robot motion planning. These are imposed by manufacturing considerations, such as, e.g., to strictly follow a given path, or by physical constraints, such as, e.g., to avoid torque saturation. Among the others, limitation on the velocity, acceleration, and jerk at the joints is often required by the robot manufacturers. In this paper, a motion planning algorithm for open-chain robot manipulators that takes into account several constraints simultaneously is presented. The algorithm developed approaches the motion planning algorithm from a wide perspective, solving systematically the joint as well as the Cartesian motion, both for the point-to-point and the fly movements. The validation has been performed first by numerical simulations and then by experiments on two different industrial manipulators, with different size, with and without the presence of a payload, by imposing demanding trajectories where all the constraints have been excited

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“…Macfarlane and Croft [14] proposed a concatenation of quintics to provide a controlled description of the point-to-point trajectory, where a sine wave template for accelerations ensures that the quintics do not oscillate. Dahl [15] presented an online method for smooth trajectory generation by using feedback technologies and the so-called online trajectory time-scaling. Kieffer et al [16] developed a complex computed torque-based controller to attempt to track the path-constrained time-optimal motion while limiting actuator chatter.…”

Section: Introductionmentioning

confidence: 99%