• DocumentCode
    3653182
  • Title

    Minimum-time trajectory planning for manipulator with controlled velocity profile

  • Author

    I. Duleba;J.Z. Sasiadek

  • Author_Institution
    Inst. of Eng. Cybern., Wroclaw Univ., Poland
  • Volume
    1
  • fYear
    1998
  • Firstpage
    16
  • Abstract
    In this paper the minimum time trajectory planning problem with controlled velocity profile has been solved. A path-tracking algorithm with a tracking error kept in given range is presented. Some extensions of the algorithm are discussed. The concepts are illustrated with examples.
  • Keywords
    "Trajectory","Velocity control","Acceleration","Path planning","Manipulator dynamics","Error correction","Cybernetics","Aerodynamics","Force control","Torque control"
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1998. Proceedings of the 1998
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-4530-4
  • Type

    conf

  • DOI
    10.1109/ACC.1998.694615
  • Filename
    694615
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3653182