In this paper we study the trajectory tracking of robotic manipulators using LQ methods. We also present the development of an algorithm that generates “near” dynamically feasible time-optimal trajectories with complete dynamics model, which incorporates both Coulomb and viscous friction. It is shown how to incorporate the viscous-friction term through a convex relaxation of the original non-convex formulation. Viscous friction is traditionally ignored in all existing related formulations due to the intractability in solving the non-convex problem. As a case study, the methodology is applied to a 6-DOF industrial manipulator.
- Dynamic Systems and Control Division
LQ-Based Trajectory Tracking of Robotic Manipulators With “Near” Dynamically Feasible Time-Optimal Trajectory
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Reynoso-Mora, P, & Tomizuka, M. "LQ-Based Trajectory Tracking of Robotic Manipulators With “Near” Dynamically Feasible Time-Optimal Trajectory." Proceedings of the ASME/ISCIE 2012 International Symposium on Flexible Automation. ASME/ISCIE 2012 International Symposium on Flexible Automation. St. Louis, Missouri, USA. June 18–20, 2012. pp. 133-138. ASME. https://doi.org/10.1115/ISFA2012-7271
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