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.
Computational-Efficient Resolved Motion Rate Control with Task-Space Trajectory Tracking
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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