The paper presents a computational-efficient resolved motion rate control software solution for task space trajectory tracking of a 6-d.o.f. robot, with direct control of the end-effector velocity. The centralized computation of nonlinear space transformations is configured to get the desired motion precision in position and velocity. A low-cost multiprocessor implementation is described.


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    Titel :

    Computational-Efficient Resolved Motion Rate Control with Task-Space Trajectory Tracking


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Borangiu, Theodor (Autor:in) / Răileanu, Silviu (Autor:in) / Ivănescu, Nick-Andrei (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    2022-04-23


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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