Trajectory tracking for robot manipulators using differential flatness
Fuente:
Redalyc
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Artículo científico |
| Sprache: | en |
| Veröffentlicht: |
Universidad Nacional de Colombia
2011
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1876445777161617408 |
|---|---|
| author | Elkin Veslin Diaz |
| author_facet | Elkin Veslin Diaz |
| contents | Trajectory tracking for robot manipulators using differential flatness Elkin Veslin Diaz Jules Slama Max Dutra Omar Lengerke Magda Morales Tavera Ingeniería Condition fault detection based maintenance neuronal networks permanent magnet synchronous motor This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalised coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space. 2011 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64322334010 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.2 Vol.31 |
| format | Artículo científico |
| id | redalyc_64322334010 |
| institution | Redalyc |
| language | en |
| publishDate | 2011 |
| publisher | Universidad Nacional de Colombia |
| spellingShingle | Trajectory tracking for robot manipulators using differential flatness Elkin Veslin Diaz Ingeniería Condition fault detection based maintenance neuronal networks permanent magnet synchronous motor Trajectory tracking for robot manipulators using differential flatness Elkin Veslin Diaz Jules Slama Max Dutra Omar Lengerke Magda Morales Tavera Ingeniería Condition fault detection based maintenance neuronal networks permanent magnet synchronous motor This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalised coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space. 2011 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64322334010 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.2 Vol.31 |
| title | Trajectory tracking for robot manipulators using differential flatness |
| topic | Ingeniería Condition fault detection based maintenance neuronal networks permanent magnet synchronous motor |
| url | https://www.redalyc.org/articulo.oa?id=64322334010 |