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Integrated Time-Optimal Trajectory Planning and Control Design for Industrial Robot Manipulator
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering)
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering (NTNU), Robotics and Control Lab (Umeå University))
Department of Automatic Control, LTH, Lund University.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)ORCID iD: 0000-0003-0730-9441
2013 (English)In: 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), Tokyo, JAPAN, 2013, 2521-2526 p.Conference paper, Published paper (Refereed)
Abstract [en]

We consider planning and implementation of fast motions for industrial manipulators constrained to a given geometric path. With such a problem formulation, which is quite reasonable for many standard operation scenarios, it is intuitively clear that a feedback controller should be designed to achieve orbital stabilization of a time-optimal trajectory instead asymptotic. We propose an algorithm to convert an asymptotically stabilizing controller into an orbitally stabilizing one and check achievable performance in simulations and, more importantly, in experiments performed on a standard industrial robot ABB IRB 140 with the IRC5-system extended with an open control interface. It is verified that the proposed re-design allows significantly reduced deviations of the actual trajectories from the desired one at high speeds not only for a chosen base feedback design but also outperforming the state-of-the-art commercial implementation offered by ABB Robotics.

Place, publisher, year, edition, pages
Tokyo, JAPAN, 2013. 2521-2526 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Motion and trajectory planning with constraints, Orbital stabilization, Time optimal control, Industrial manipulators
National Category
Control Engineering Robotics
Identifiers
URN: urn:nbn:se:umu:diva-88097ISI: 000331367402099ISBN: 978-1-4673-6358-7 (print)OAI: oai:DiVA.org:umu-88097DiVA: diva2:713656
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), NOV 03-08, 2013, Tokyo, JAPAN
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2014-04-23

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf