seguimiento de trayectorias en manipuladores robóticos usando 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: Contribution to journalArticlepeer-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 contributionTrajectory tracking for robot manipulators using differential flatness
Original languageSpanish
Pages (from-to)84-90
Number of pages7
JournalIngenieria e Investigacion
Volume31
Issue number2
StatePublished - Aug 2011
Externally publishedYes

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