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Erschienen in:
1991 | OriginalPaper | Buchkapitel
Automatic Determination of Quasi-Time Optimal Joint Trajectories and Adaptive Control for a Robotic Arm
verfasst von : Yorgo Istefanopulos, Luciano Casagrande
Erschienen in: Expert Systems and Robotics
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
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In this work an original algorithm is developed to generate quasi-time optimal trajectories for each joint of a planar robot arm on the basis of the desired trajectory of its end effector, expressed in Cartesian coordinates, along with various time specifications. The algorithm takes into account the following three cases: free time for motion completion; fixed time for motion completion; motion with specified times at intermediate points. The generated reference trajectories are used in two different robot control algorithms based on the computed-torque method and the proportional-derivative feedback with feedforward control, where both methods include load adaptation.