Abstract
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.
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This paper was recommended for publication in revised form by Associate Editor Jong Hyeon Park
Javier Moreno-Valenzuela is with the CITEDI-IPN Research Center, Tijuana, Mexico. He received the Ph.D. degree in Automatic Control from CICESE Research Center, Ensenada, Mexico, in 2002. He was a Postdoctoral Fellow at the Université de Liège, Belgium, from 2004 to 2005. His main research interests are control of electromechanical systems, robotics and real-time systems.
Ernesto Orozco-Manríquez received the Bachelor’s degree in computer engineering from the Technological Institute of La Paz, Mexico, in 2006. He is currently pursuing the M.Sc. degree in digital systems at CITEDI-IPN Research Center, Tijuana, Mexico.
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Moreno-Valenzuela, J., Orozco-Manríquez, E. A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories. J Mech Sci Technol 23, 3221–3231 (2009). https://doi.org/10.1007/s12206-009-1006-z
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DOI: https://doi.org/10.1007/s12206-009-1006-z