Trajectory tracking for robot manipulators using differential flatness

Elkin Veslin Diaz; Jules Slama; Max Dutra; Omar Lengerke; Magda Morales Tavera

Trajectory tracking for robot manipulators using differential flatness

Translated title of the contribution: Trajectory tracking for robot manipulators using differential flatness

Elkin Veslin Diaz, Jules Slama, Max Dutra, Omar Lengerke, Magda Morales Tavera

Research output: Articles / Notes › Scientific Article › peer-review

5 Scopus citations

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
Original language	English
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

Keywords

Condition-based maintenance
Fault detection
Neuronal networks
Permanent magnet synchronous motor

Cite this

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title = "Trajectory tracking for robot manipulators using differential flatness",

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.",

keywords = "Condition-based maintenance, Fault detection, Neuronal networks, Permanent magnet synchronous motor",

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AU - Diaz, Elkin Veslin

AU - Slama, Jules

AU - Dutra, Max

AU - Lengerke, Omar

AU - Tavera, Magda Morales

PY - 2011/8

Y1 - 2011/8

N2 - 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.

AB - 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.

KW - Condition-based maintenance

KW - Fault detection

KW - Neuronal networks

KW - Permanent magnet synchronous motor

UR - http://www.scopus.com/inward/record.url?scp=80052411952&partnerID=8YFLogxK

M3 - Artículo Científico

AN - SCOPUS:80052411952

SN - 0120-5609

VL - 31

SP - 84

EP - 90

JO - Ingenieria e Investigacion

JF - Ingenieria e Investigacion

IS - 2

ER -

Trajectory tracking for robot manipulators using differential flatness

Abstract

Keywords

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