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Path-tracking velocity control for robot manipulators with actuator constraints
Lund University, Sweden.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2017 (English)In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 45, 82-99 p.Article in journal (Refereed) Published
Abstract [en]

An algorithm for high-performance path tracking for robot manipulators in the presence of model uncertainties and actuator constraints is presented. The path to be tracked is assumed given, and the nominal trajectories are computed using, for example, well-known algorithms for time-optimal path tracking. For online path tracking, the nominal, feedforward trajectories are combined with feedback in a control architecture with a secondary controller, such that robustness to uncertainties in model or environment is achieved. The control law is based on existing path-velocity control (PVC), or so called online time scaling, but in addition to speed adaptation along the tangent of the path, the algorithm also comprises an explicit formulation and approach, with several attractive properties, for handling the deviations along the transversal directions of the path. For achieving fast convergence along the normal and binormal directions of the path in 3D motion, the strategy proposed has inherent exponential convergence properties. The result is a complete architecture for path-tracking velocity control (PTVC). The method is evaluated in extensive simulations with manipulators of different complexity, and PTVC exhibits superior performance compared to PVC. (C) 2017 Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2017. Vol. 45, 82-99 p.
Keyword [en]
Path following; Optimal path tracking; Natural path coordinates; Robot-control architecture
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-140520DOI: 10.1016/j.mechatronics.2017.05.008ISI: 000407984400008OAI: oai:DiVA.org:liu-140520DiVA: diva2:1140112
Note

Funding Agencies|ELLIIT, the Strategic Area for ICT research - Swedish Government; European Commission under SMErobotics [287787]; Swedish Research Council

Available from: 2017-09-11 Created: 2017-09-11 Last updated: 2017-09-11

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • asciidoc
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