IEEE - Institute of Electrical and Electronics Engineers, Inc. - Techniques to preserve the stability of a trajectory scaling algorithm

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Corrado Guarino Lo Bianco ; Fabio Ghilardelli
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 870 - 876
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630675
Regular:

User defined trajectories are often planned by neglecting the manipulator physical limits. In order to avoid stability problems and to guarantee an accurate path tracking, it is therefore... View More

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