Real-time path-tracking control of robotic manipulators with bounded torques and torque-derivatives

@article{Gerelli2008RealtimePC,
  title={Real-time path-tracking control of robotic manipulators with bounded torques and torque-derivatives},
  author={Oscar Gerelli and Corrado Guarino Lo Bianco},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={532-537}
}
Minimum-time path-tracking control of robotic manipulators assumes a relevant role in industrial applications where efficiency is an issue. On the other hand, minimizing the traveling time leads to an increment of the mechanical solicitations: the actuators dynamic limits can be easily exceeded. For this reasons, kinematic and/or dynamic constraints are normally taken into account when planning optimal trajectories through off-line algorithms. Nevertheless this precaution, dynamic limits can be… CONTINUE READING

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