Time-scaling of trajectories for point-to-point robotic tasks.

In order to improve the tracking performance in the practical robot task of time-optimal point-to-point motion when torque limits and model uncertainty are present, in this paper is introduced an algorithm for on-line time-scaling of the desired trajectories, which is used along with a conventional trajectory tracking controller. Numerical examples for a two-degrees-of-freedom arm are provided, which illustrate the tracking accuracy of the proposed method.

[1]  Frank L. Lewis,et al.  Control of Robot Manipulators , 1993 .

[2]  Fernando Reyes-Cortés,et al.  Experimental Evaluation of Identification Schemes on a Direct Drive Robot , 1997, Robotica.

[3]  B. Cao,et al.  Constrained time-efficient and smooth cubic spline trajectory generation for industrial robots , 1997 .

[4]  Elizabeth A. Croft,et al.  Jerk-bounded manipulator trajectory planning: design for real-time applications , 2003, IEEE Trans. Robotics Autom..

[5]  Lars Nielsen,et al.  Torque-limited path following by online trajectory time scaling , 1990, IEEE Trans. Robotics Autom..

[6]  J. Wen.  A unified perspective on robot control: The energy lyapunov function approach , 1990 .

[7]  Susumu Tachi,et al.  Path tracking control of a manipulator considering torque saturation , 1994, IEEE Trans. Ind. Electron..

[8]  P. Dorato,et al.  Survey of robust control for rigid robots , 1991, IEEE Control Systems.

[9]  Alessandro De Luca,et al.  Dynamic scaling of trajectories for robots with elastic joints , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[10]  J. Hollerbach.  Dynamic Scaling of Manipulator Trajectories , 1983, 1983 American Control Conference.

[11]  Bruno Siciliano,et al.  Modeling and Control of Robot Manipulators , 1995 .

[12]  J. Bobrow,et al.  Time-Optimal Control of Robotic Manipulators Along Specified Paths , 1985 .

[13]  Shaheen Ahmad,et al.  Time scaling of cooperative multirobot trajectories , 1991, IEEE Trans. Syst. Man Cybern..

[14]  Frank L. Lewis,et al.  Optimal Control , 1986 .

[15]  Friedrich Pfeiffer,et al.  A concept for manipulator trajectory planning , 1987, IEEE J. Robotics Autom..

[16]  Fernando Reyes,et al.  Experimental evaluation of model-based controllers on a direct-drive robot arm , 2001 .