Path-tracking velocity control for robot manipulators with actuator constraints
An algorithm for high-performance path tracking for robot manipulators
in the presence of model uncertainties and actuator constraints is
presented. The path to be tracked is assumed given, and the nominal
trajectories are computed using, for example, well-known algorithms
for time-optimal path tracking. For online path tracking, the nominal,
feedforward trajectories are combined with feedback in a control
architecture with a secondary controller, such that robustness to
uncertainties in model or environment is achieved. The control law is
based on existing path-velocity control (PVC), or so called online
time scaling, but in addition to speed adaptation along the tangent of
the path, the algorithm also comprises an explicit formulation and
approach, with several attractive properties, for handling the
deviations along the transversal directions of the path. For achieving
fast convergence along the normal and binormal directions of the path
in 3D motion, the strategy proposed has inherent exponential
convergence properties. The result is a complete architecture for
path-tracking velocity control (PTVC). The method is evaluated in
extensive simulations with manipulators of different complexity, and
PTVC exhibits superior performance compared to PVC
Björn Olofsson and Lars Nielsen
Mechatronics,
2017
Page responsible: webmaster
Last updated: 2021-11-10
LiU startsida
