Path-constrained robot control with limited torques-experimental evaluation

@article{Dahl1994PathconstrainedRC,
  title={Path-constrained robot control with limited torques-experimental evaluation},
  author={Ola Dahl},
  journal={IEEE Trans. Robotics and Automation},
  year={1994},
  volume={10},
  pages={658-669}
}
Fast motion along a predefined path is important in many robot applications, and requires utilization of the maximum allowable torque range. If the torque is at the limit, there is no margin to cope with disturbances or modeling errors, which may result in deviation from the path. A path velocity controller for modification of the velocity along the path when the torques saturate can improve path tracking. The path velocity controller acts as an outer feedback loop outside the ordinary robot… CONTINUE READING
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