Point-to-point motion control of two-arm manipulators

2003 ◽  
Author(s):  
E. Tabarah ◽  
B. Benhabib ◽  
G. Zak
Keyword(s):  
Motion Control ◽  
Point Motion ◽  
Point To Point

The Application of Command Shaping to the Tracking Problem

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Michael C. Reynolds ◽  
Peter H. Meckl
Keyword(s):  
Control Problem ◽  
Motion Control ◽  
Tracking Error ◽  
Tracking Problem ◽  
Command Shaping ◽  
Optimal Tracking ◽  
Tracking Technique ◽  
Optimal Input ◽  
Point Motion ◽  
Point To Point

This work presents a novel technique for the solution of an optimal input for trajectory tracking. Many researchers have documented the performance advantages of command shaping, which focuses on the design of an optimal input. Nearly all research in command shaping has been centered on the point-to-point motion control problem. However, tracking problems are also an important application of control theory. The proposed optimal tracking technique extends the point-to-point motion control problem to the solution of the tracking problem. Thus, two very different problems are brought into one solution scheme. The technique uses tolerances on trajectory following to meet constraints and minimize either maneuver time or input energy. A major advantage of the technique is that hard physical constraints such as acceleration or allowable tracking error can be directly constrained. Previous methods to perform such a task involved using various weightings that lack physical meaning. The optimal tracking technique allows for fast and efficient exploration of the solution space for motion control. A solution verification technique is presented and some examples are included to demonstrate the technique.

High-Acceleration Precision Point-to-Point Motion Control With Look-Ahead Properties

2011 ◽  
Vol 58 (9) ◽  
pp. 4343-4352 ◽  
Author(s):  
Jianhua Wu ◽  
Zhenhua Xiong ◽  
Kok-Meng Lee ◽  
Han Ding
Keyword(s):  
Motion Control ◽  
Look Ahead ◽  
High Acceleration ◽  
Point Motion ◽  
Point To Point

Model predictive control for time-optimal point-to-point motion control

2011 ◽  
Vol 44 (1) ◽  
pp. 2458-2463 ◽  
Author(s):  
Lieboud Van den Broeck ◽  
Moritz Diehl ◽  
Jan Swevers
Keyword(s):  
Model Predictive Control ◽  
Motion Control ◽  
Predictive Control ◽  
Optimal Point ◽  
Point Motion ◽  
Time Optimal ◽  
Point To Point

Optimal Point-to-Point Motion Control of Robots With Redundant Degrees of Freedom

1986 ◽  
Vol 108 (2) ◽  
pp. 120-126 ◽  
Author(s):  
R. G. Fenton ◽  
B. Benhabib ◽  
A. A. Goldenberg
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
Generalized Inverse ◽  
Optimization Procedure ◽  
Merit Function ◽  
Robot Arm ◽  
Optimal Point ◽  
Motion Time ◽  
Point Motion ◽  
Point To Point

Control of a kinematically redundant robot arm requires an optimization procedure to determine the motion of the end effector. The criterion for optimization can be minimum motion time, minimum joint displacement increments or a combined merit function specified according to the requirements of the user. Three different methods may be used to perform the computations and obtain the joint coordinate increments for the point-to-point motion control of the robot. The methods are the “direct,” the “pseudoinverse” and the “generalized inverse” methods. These methods are described in detail in this paper, and results obtained with the three methods are compared on the basis of performing simulated tasks. It is concluded that the generalized inverse method is the most suitable, general method for point-to-point control of robots with more than six degrees-of-freedom.

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