Abstract
A feedback scheme for path following by trajectory time scaling is presented. The scheme is used in execution of fast trajectories along a geometric path, where the motion is limited by torque constraints. The time scaling is done by using a secondary controller that modifies a nominal trajectory during motion. The nominal, high-performance trajectory typically leads to torques that are at the limits, which leaves no control authority to compensate for modeling errors and disturbances. By modifying the time scaling of the nominal trajectory when the torques saturate, closed-loop action is possible. A key idea is that a scalar quantity (the path acceleration) is modified, resulting in coordinated adjustment of the individual joint motions. Two algorithms for online trajectory scaling are presented. One is based on online bounds on path acceleration, and one is designed to handle nominal minimum time trajectories. The functionality of the secondary controller is verified by simulations and experiments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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.
