Nonlinear variable structure filter for the online trajectory scaling / Gerelli, Oscar in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3921 - 3930 Titre : Nonlinear variable structure filter for the online trajectory scaling Type de document : texte imprimé Auteurs : Gerelli, Oscar, Auteur ; Guarino Lo Bianco, Corrado, Auteur Article en page(s) : pp. 3921 - 3930 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Industrial manipulators Kinematic and dynamic bounds Nonlinear tracking filter Path Trajectory scaling Variable structure systems Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : Time efficiency and accurate path tracking represent two conflicting demands typical of robotic applications: Time efficiency induces one to plan extremely fast trajectories which can easily collide with the manipulator kinematic and dynamic constraints, thus causing a reduction of accuracy. To deal with this problem, several approaches can be found in the literature mainly based on the synthesis of dynamic filters used for the online trajectory scaling: A possibly unfeasible input trajectory is automatically scaled to fulfill given dynamic bounds. In this way, an accurate path tracking is guaranteed. This paper can be collocated in such a framework. A new discrete-time filter, with novel capabilities, is designed. Differently from other proposals, not only torque constraints are considered but also kinematic constraints are easily handled. Moreover, to preserve time efficiency, the new filter always attempts to recover any delay caused by the constraints. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4812093 [article] Nonlinear variable structure filter for the online trajectory scaling [texte imprimé] / Gerelli, Oscar, Auteur ; Guarino Lo Bianco, Corrado, Auteur . - pp. 3921 - 3930. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3921 - 3930 Mots-clés : Industrial manipulators Kinematic and dynamic bounds Nonlinear tracking filter Path Trajectory scaling Variable structure systems Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : Time efficiency and accurate path tracking represent two conflicting demands typical of robotic applications: Time efficiency induces one to plan extremely fast trajectories which can easily collide with the manipulator kinematic and dynamic constraints, thus causing a reduction of accuracy. To deal with this problem, several approaches can be found in the literature mainly based on the synthesis of dynamic filters used for the online trajectory scaling: A possibly unfeasible input trajectory is automatically scaled to fulfill given dynamic bounds. In this way, an accurate path tracking is guaranteed. This paper can be collocated in such a framework. A new discrete-time filter, with novel capabilities, is designed. Differently from other proposals, not only torque constraints are considered but also kinematic constraints are easily handled. Moreover, to preserve time efficiency, the new filter always attempts to recover any delay caused by the constraints. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4812093

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