A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories
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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.
KeywordsMotion control Robot manipulator Constrained torques Time-scaling Stability
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