Abstract
The well-known algorithms for time-optimal trajectory planning are difficult to apply in practice because they rely on imperfect models of the robot dynamics, they take no account of controller dynamics, and they provide no connection to tracking accuracy. In this paper we propose two schemes for planning and implementing time-optimal control to enable robots under computed torque control to track paths to a prescribed tolerance. Experimental results confirm the theories, showing that both schemes track to a prescribed accuracy in a near time-optimal fashion. The second scheme is shown to perform better, achieving complete torque utilization nearly all of the time.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
