State-based velocity profile for manipulator

The study is focused on velocity control of a manipulator motion in the case when the precise execution of commands cannot be guaranteed because of the imperfection of the control system or interaction with the robot environment. The proposed approach combines the real-time state estimation with a t...

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Bibliographic Details
Published in2019 3rd School on Dynamics of Complex Networks and their Application in Intellectual Robotics (DCNAIR) pp. 125 - 126
Main Author Mikhel, Stanislav
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2019
Subjects
Acceleration
Jacobian matrices
Manipulators
Mathematical model
Numerical models
robot manipulator
Trajectory
velocity profile
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Summary:The study is focused on velocity control of a manipulator motion in the case when the precise execution of commands cannot be guaranteed because of the imperfection of the control system or interaction with the robot environment. The proposed approach combines the real-time state estimation with a trapezoidal velocity profile to optimize the performance of the linear Cartesian and point-to-point motions.
DOI:10.1109/DCNAIR.2019.8875511