Time-scaling of trajectories for point-to-point robotic tasks

In order to improve the tracking performance in the practical robot task of time-optimal point-to-point motion when torque limits and model uncertainty are present, in this paper is introduced an algorithm for on-line time-scaling of the desired trajectories, which is used along with a conventional trajectory tracking controller. Numerical examples for a two-degrees-of-freedom arm are provided, which illustrate the tracking accuracy of the proposed method.