TY - JOUR
T1 - Minimum time closed-loop tracking of a specified path by robot
AU - Tam, Hon Y.
PY - 1990
Y1 - 1990
N2 - The minimum-time trajectory of a robot following a specified path involves alternate intervals of acceleration and deceleration along the path. Perturbation control is used to design a feedback scheme which takes this characteristic, as well as control saturation, into account. The feedback mechanization involves updating the control, the switching times, and the final time based on the available measurements of deviation of the robot from its nominal path. It requires precomputation of control gains along the nominal path, and much computation is avoided in real time. Controller design is simply the tuning of certain weights in the performance index. The method is illustrated by commanding a two-link rigid robot to track a straight line. Extensions of the control scheme to improve robustness to tip-mass change are also discussed.
AB - The minimum-time trajectory of a robot following a specified path involves alternate intervals of acceleration and deceleration along the path. Perturbation control is used to design a feedback scheme which takes this characteristic, as well as control saturation, into account. The feedback mechanization involves updating the control, the switching times, and the final time based on the available measurements of deviation of the robot from its nominal path. It requires precomputation of control gains along the nominal path, and much computation is avoided in real time. Controller design is simply the tuning of certain weights in the performance index. The method is illustrated by commanding a two-link rigid robot to track a straight line. Extensions of the control scheme to improve robustness to tip-mass change are also discussed.
UR - http://www.scopus.com/inward/record.url?scp=0025549528&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0025549528&origin=recordpage
U2 - 10.1109/CDC.1990.203368
DO - 10.1109/CDC.1990.203368
M3 - RGC 22 - Publication in policy or professional journal
SN - 0743-1546
VL - 6
SP - 3132
EP - 3137
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
T2 - Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6)
Y2 - 5 December 1990 through 7 December 1990
ER -