Abstract
This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalized coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space.
Translated title of the contribution | Trajectory tracking for robot manipulators using differential flatness |
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Original language | Spanish |
Pages (from-to) | 84-90 |
Number of pages | 7 |
Journal | Ingenieria e Investigacion |
Volume | 31 |
Issue number | 2 |
State | Published - Aug 2011 |
Externally published | Yes |