Journal of Mechanical Science and Technology

, Volume 23, Issue 12, pp 3221–3231 | Cite as

A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories

  • Javier Moreno-Valenzuela
  • Ernesto Orozco-Manríquez


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.


Motion control Robot manipulator Constrained torques Time-scaling Stability 


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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Javier Moreno-Valenzuela
    • 1
  • Ernesto Orozco-Manríquez
    • 1
  1. 1.Centro de Investigación y Desarrollo de Tecnologa Digital del IPN, CITEDI-IPNTijuanaMexico

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