Affiliation:
1. Department of Automation and Applied Informatics, Budapest University of Technology and Economics, Budapest H-1117, Hungary
Abstract
Abstract
This paper presents a fast and easily implementable path tracking algorithm for robots. Usually, for a path tracking problem, the goal is to move the robot on a predefined path, while the joint velocities and accelerations are kept within their limits. This paper deals with the extended case, constraining the forces applied to the objects at the manipulator. First, a problem with a special set of constraints is presented, and a sequential solver method is formulated. The presented sequential solver algorithm has significant computational benefits compared to the direct transcription approach. Then, a practical example is introduced where the proposed algorithm can be applied. At last, the algorithm is validated by real-life experimental results with a six degrees-of-freedom robotic arm.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference23 articles.
1. Motion Planning;Siciliano,2008
2. Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds,2013
3. Minimum-Time Speed Optimisation Over a Fixed Path;Int. J. Control,2014
4. Minimum-Time Control of Robotic Manipulators With Geometric Path Constraints;IEEE Trans. Autom. Control,1985
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献