Recent developments in industrial robotics use real-time trajectory modification to improve throughput and safety in automatic processes. Online trajectory scaling is often used to this purpose. In this paper, we propose a feedback trajectory scaling approach that is able to recover from the delay introduced by the speed modulation and improves the path-following performance thanks to an additional inner control loop. Simulation and experimental results on an industrial 6-degree-of-freedom robot show the effectiveness of the proposed approach compared to standard algorithms.
Titolo: | Real-time trajectory scaling for robot manipulators |
Autori: | |
Data di pubblicazione: | 2020 |
Abstract: | Recent developments in industrial robotics use real-time trajectory modification to improve throughput and safety in automatic processes. Online trajectory scaling is often used to this purpose. In this paper, we propose a feedback trajectory scaling approach that is able to recover from the delay introduced by the speed modulation and improves the path-following performance thanks to an additional inner control loop. Simulation and experimental results on an industrial 6-degree-of-freedom robot show the effectiveness of the proposed approach compared to standard algorithms. |
Handle: | http://hdl.handle.net/11379/535973 |
ISBN: | 978-1-7281-5715-3 |
Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
File | Descrizione | Tipologia | Licenza | |
---|---|---|---|---|
ScalaturaTraiettorie-Faroni-ConfUbiquitousRobot-2020.pdf | Full Text | DRM non definito | Utenti riconosciuti Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.