Local Optimal Tracking Control for Manipulators with Restrictive Joint Velocity and Acceleration Limits

Velocity based tracking control of manipulators under speed and acceleration limitations has been subject of intensive research from the very beginning of industrial robots. Especially in the vicinity of singularities these limitations severely degrade control performance. Although many different co...

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Bibliographic Details
Published inIEEE/ASME International Conference on Advanced Intelligent Mechatronics pp. 230 - 237
Main Author Mareczek, Jorg
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2020
Subjects
Acceleration
Manipulator dynamics
Switches
Task analysis
Trajectory
Online AccessGet full text
ISSN2159-6255
DOI10.1109/AIM43001.2020.9158914

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