Name
Abstract | ||
|---|---|---|
An analysis is made of the experimental results of a minimum-time trajectory control scheme for a two-link flexible robot. An offline optimization routine determines a minimum-time, straight-line tip trajectory which stays within the torque constraints of the motors and ends with no vibrational transients. An efficient finite-element model is used in the optimization to approximate the flexible arm dynamics. The control strategy described is used to determine the feedback gains for the position, velocity, and strain gage signals from a quadratic cost criterion based on the finite-element model linearized about the straight-line tip trajectory. These feedback signals are added to the modeled torque values obtained from the optimization routine and used to control the robot arm actuators. The results indicate that this combination of model-based and error-driven control strategies, achieves a closer tracking of the desired trajectory and a better handling of modeling errors than either strategy alone |
Year | DOI | Venue |
|---|---|---|
1991 | 10.1109/ROBOT.1991.131940 | ICRA |
Keywords | Field | DocType |
feedback,finite element analysis,optimal control,optimisation,position control,robots,error-driven control strategies,finite-element model,minimum-time trajectory control,model-based control strategies,offline optimization routine,optimization,quadratic cost criterion,straight-line tip trajectory,torque constraints,two-link flexible robotic manipulator,capacitive sensors,control systems,partial differential equation,error correction,robot arm,engineering,simulation,torque,equations of motion,differential equations,finite element methods,finite element method,constraint optimization,partial differential equations,laboratory equipment,model error,control system,equation of motion,trajectories,finite element model,differential equation | Robotic arm,Torque,Optimal control,Trajectory optimization,Control theory,Simulation,Control engineering,Engineering,Control system,Robot,Trajectory,Constrained optimization | Conference |
Volume | Issue | Citations |
1991 | 1 | 3 |
PageRank | References | Authors |
0.55 | 4 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| D. Schoenwald | 1 | 15 | 13.25 |
| Feddema, J.T. | 2 | 391 | 107.65 |
| Eisler, G.R. | 3 | 3 | 0.55 |
| Daniel J. Segalman | 4 | 20 | 2.31 |