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|
|Number of pages||7|
|Journal||Ingenieria e Investigacion|
|State||Published - Aug 2011|