Show simple item record

contributor authorSatyajit Ambike
contributor authorJames P. Schmiedeler
contributor authorMichael M. Stanišić
date accessioned2017-05-09T00:46:03Z
date available2017-05-09T00:46:03Z
date copyrightMay, 2011
date issued2011
identifier issn1942-4302
identifier otherJMROA6-28011#021008_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/147159
description abstractTrajectory tracking is accomplished by obtaining separate solutions to the geometric path-tracking problem and the temporal tracking problem. A methodology enabling the geometric tracking of a desired planar or spatial path to any order with a nonredundant manipulator is developed. In contrast to previous work, the equations are developed using one of the manipulator’s joint variables as the independent parameter in a fixed global frame rather than a configuration-dependent canonical frame. Both these features provide significant practical advantages. Furthermore, a strategy for determining joint velocities and accelerations at singular configurations is provided, which allows the manipulator to approach and/or move out of a singular configuration with finite joint velocities without sacrificing the geometric fidelity of tracking. An example shows a spatial six-revolute robot tracking a trajectory using the developed method in conjunction with resolved-acceleration feedback control.
publisherThe American Society of Mechanical Engineers (ASME)
titleTrajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems
typeJournal Paper
journal volume3
journal issue2
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4003272
journal fristpage21008
identifier eissn1942-4310
keywordsMotion
keywordsRobots
keywordsTrajectories (Physics)
keywordsEquations
keywordsManipulators
keywordsFeedback AND Jacobian matrices
treeJournal of Mechanisms and Robotics:;2011:;volume( 003 ):;issue: 002
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record