Trajectory tracking is accomplished by obtaining separate solutions to the geometric path-tracking problem and the temporal tracking problem. A methodology enabling the geometric tracking of a desired planar or spatial path to any order with a nonredundant manipulator is developed. In contrast to previous work, the equations are developed using one of the manipulator’s joint variables as the independent parameter in a fixed global frame rather than a configuration-dependent canonical frame. Both these features provide significant practical advantages. Furthermore, a strategy for determining joint velocities and accelerations at singular configurations is provided, which allows the manipulator to approach and/or move out of a singular configuration with finite joint velocities without sacrificing the geometric fidelity of tracking. An example shows a spatial six-revolute robot tracking a trajectory using the developed method in conjunction with resolved-acceleration feedback control.
Trajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems
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Ambike, S., Schmiedeler, J. P., and Stanišić, M. M. (April 7, 2011). "Trajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems." ASME. J. Mechanisms Robotics. May 2011; 3(2): 021008. https://doi.org/10.1115/1.4003272
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