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Path Tracking Control of a Manipulator Considering Torque Saturation
http://hdl.handle.net/2261/6853
http://hdl.handle.net/2261/6853eb6e7ea4-d7b8-402d-9a31-e5715387f40d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
00281604.pdf (655.1 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2007-06-06 | |||||
| タイトル | ||||||
| タイトル | Path Tracking Control of a Manipulator Considering Torque Saturation | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源 | http://purl.org/coar/resource_type/c_6501 | |||||
| タイプ | journal article | |||||
| 著者 |
Arai, Hirohiko
× Arai, Hirohiko× Tanie, Kazuo× Tachi, Susumu |
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| 著者所属 | ||||||
| 著者所属 | RCAST, University of Tokyo | |||||
| 著者所属 | ||||||
| 著者所属 | Mechanical Engineering Laboratory Ministry of International Trade and Industry | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator's dynamics and actuator's torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation. Consequently, the tracking error cannot be suppressed and the manipulator may deviate from the desired path. In this paper, we propose a feedback control method for path tracking which takes the torque saturation into account. Based on the desired path, a coordinate system calledpath coordinates is defined. The path coordinates are composed of the component along the path and the components normal to the path. The equation of motion is described in terms of the path coordinates. Control of the components normal to the path is given priority in order to keep the motion of the manipulator on the path. Simulations of a two-degree-of-freedom manipulator show the effectiveness of this method. | |||||
| 書誌情報 |
IEEE transactions on industrial electronics : a publication of the IEEE Industrial Electronics Society 巻 41, 号 1, p. 25-31, 発行日 1994-02 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 02780046 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA10629318 | |||||
| DOI | ||||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | info:doi/10.1109/41.281604 | |||||
| 権利 | ||||||
| 権利情報 | ©1994 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
| フォーマット | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | application/pdf | |||||
| 日本十進分類法 | ||||||
| 主題Scheme | NDC | |||||
| 主題 | 549 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
