Path-constrained robot control with limited torques-experimental evaluation

Advances in Intelligent Autonomous Systems

“…The problem of motion along predefined paths appears in many robotic applications [27], [71][72][73][74][75][76][77]. In some cases the path on which the robot moves is determined by the nature of the job performed by the robot, e.g.…”

“…[27], [71][72][73][74][75][76][77] . The problem of designing the robot's velocity profile along this path in a such a way that guarantees collision avoidance and/or minimum time optimisation has been treated in several papers, e.g.…”

Experimental validation of a time scaling algorithm for robotics systems

“…However, as early announced, this latter is recovered in minimum time when the manipulator is far from critical configurations. Thus, differently from other approaches proposed in the literature [6], [7], time delays are not accumulated. Signalsu andü, as shown in Fig.…”

Analysis and Control of Nonlinear Systems

“…delaying the reference trajectory of the wiper called follower when the other one, the leader, is behind its reference trajectory, extending ideas previously developed by Dahl and Nielsen Dahl and Nielsen [1990], Dahl [1994]. Therefore, at a first step, the control design can be done wiper by wiper.…”