Constrained average path tracking for industrial robots
To eliminate the burden of computing the dynamics while controlling the mechanical manipulator, its dynamic behavior is modeled by a difference equation, which is a natural formulation for computations performed on a digital computer. Quadratic terms representing centrifugal forces are included in the equation to reduce modeling errors. The parameters of the model are estimated based on the minimum variance criterion. The control torque for each joint is computed during each sampling period to minimize the deviation from points on the desired joint path. Desired joint path could be obtained from the Cartesian path using spline function approximations.
KeywordsKalman Filter Joint Torque Stochastic Approximation Industrial Robot Joint Path
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