• DocumentCode
    3268045
  • Title

    Time-Optimal Trajectory Planning for Adaptive Control of Plane Parallel Robots

  • Author

    Pietsch, I.T. ; Becker, O. ; Krefft, M. ; Hesselbach, J.

  • Author_Institution
    Institute of Machine Tools and Production Technology, Technical University Braunschweig, Langer Kamp 19 b, D-38106 Braunschweig, Germany. i.pietsch@tu.bs.de
  • fYear
    2003
  • fDate
    12-12 June 2003
  • Firstpage
    639
  • Lastpage
    643
  • Abstract
    This paper provides an algorithm for time-optimal trajectory planning for plane parallel robots. The approach enhances existing solutions by including a jerklimitation. Furthermore, the algorithm is based on the dynamic parameter linear form of the robot dynamics. Parameter estimates of adaptive controllers can directly be used to adapt the trajectory planning algorithm to changing operating conditions as e.g. varying payloads.
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control and Automation, 2003. ICCA '03. Proceedings. 4th International Conference on
  • Conference_Location
    Montreal, Que., Canada
  • Print_ISBN
    0-7803-7777-X
  • Type

    conf

  • DOI
    10.1109/ICCA.2003.1595100
  • Filename
    1595100
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3268045