کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7126941 | 1461551 | 2018 | 15 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Smooth motion control of rigid robotic manipulators with constraints on high-order kinematic variables
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله

چکیده انگلیسی
This paper presents a design for a jerk-constrained, time-optimal controller (JCTOC) that allows the smooth control of rigid robotic manipulators, in which time-optimal output responses are attained with confined jerk. A snap-constrained, time-optimal control (SCTOC) scheme is also proposed to produce even smoother output responses that are time-optimal, with a constraint on the maximum admissible snap. In contrast to conventional path-planning approaches that involve a bounded jerk/snap, the proposed JCTOC and SCTOC practically limit the corresponding high-order kinematic variables in real time. Using the structure of the computed torque control, the PD control, the JCTOC and the SCTOC are experimentally compared in terms of specific performance indices, including a chatter index, which is used to measure the unevenness of a signal.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 49, February 2018, Pages 11-25
Journal: Mechatronics - Volume 49, February 2018, Pages 11-25
نویسندگان
Yu-Sheng Lu, Yi-Yi Lin,