Paper Info
Title
Experimental validation of a time scaling algorithm for robotics systems
Abstract
Saturation phenomena, that characterize physical systems, worsen the performances of control loops and, in the worst cases, could also lead to instability. Possible problems can be avoided by devising appropriate feedback control systems or by means of trajectory scaling algorithms. The main advantage of these latter is that they do not require any controller adaptation. The paper describes an experimental validation, obtained by means of a two link planar manipulator, of a recently proposed scaling algorithm, which performances have been verified by considering modeling errors and an uncertain knowledge of the plant parameters.
Year
DOI
Venue
2012
10.1109/ROBIO.2012.6491269
Robotics and Biomimetics
Keywords
Field
DocType
feedback,manipulators,position control,controller adaptation,feedback control system,robotics system,saturation phenomenon,time scaling algorithm,trajectory scaling algorithm,two-link planar manipulator
Control theory,Physical system,Computer science,Instability,Control engineering,Artificial intelligence,Control system,Scaling,Robotics,Trajectory,Control theory,Algorithm,Time scaling
Conference
ISBN
Citations 
PageRank 
978-1-4673-2125-9
0
0.34
References 
Authors
8
3
Name
Order
Citations
PageRank
C. Guarino Lo Bianco111012.99
Fabio Ghilardelli2142.09
Daniel Kubus3489.02