DocumentCode
487282
Title
Velocity Profile Generation of a Robotic Manipulator to Minimize Tracking Error
Author
Hideg, L.M. ; Judd, R.P.
Author_Institution
School of Engineering and Computer Science, Oakland University, Rochester, Michigan 48309-4401
fYear
1988
fDate
15-17 June 1988
Firstpage
517
Lastpage
522
Abstract
The method described in this paper promotes accurate tracking of a given path by a robotic manipulator. The manipulator´s velocity along the path is slowed as manipulator singularities or path corners are encountered. This adjustment is necessary to keep the manipulator tracking close to the path to satisfy error criteria. A numerical example is presented.
Keywords
Acceleration; Actuators; Computer errors; Computer science; Manipulators; Productivity; Robotics and automation; Robots; Upper bound; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1988
Conference_Location
Atlanta, Ga, USA
Type
conf
Filename
4789774
Link To Document