NDLI: Path constrained robot control with limited torques-experimental evaluation

Content Provider	IEEE Xplore Digital Library
Author	Dahl, O.
Copyright Year	1993
Description	Author affiliation: Dept. of Autom. Control, Lund Inst. of Technol., Sweden (Dahl, O.)
Abstract	A path velocity controller for modification of the velocity along the path when torques saturate can be used to improve path tracking. The path velocity controller acts as an outer feedback loop outside the ordinary robot controller, and modifies a nominal velocity profile, computed by minimum time optimization using available methods. An experimental evaluation of such a controller is presented. The experiments are performed on an industrial robot where the original robot control system has been replaced by a VME-based computer system. Experimental results demonstrate that the path velocity controller can adjust a nominal minimum time velocity profile, such that the result is good path following and good utilization of the available torque range. It is also demonstrated how the path velocity controller is able to compensate for time variations in the robot dynamics.
Starting Page	493
Ending Page	498
File Size	541064
Page Count	6
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.291909
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Velocity control Service robots Torque control Industrial control Optimal control Robotics and automation Feedback loop Optimization methods Computer industry
Content Type	Text
Resource Type	Article

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