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Manipulator trajectory tracking controller

There are several tasks for which the end effector of the manipulator must follow a specific motion trajectory with predetermined velocity. Those tasks include cell injection, surface scanning, griping, etc. The desired trajectory is described by a set of via-points and velocities in the end effector coordinates.

The Trajectory Tracking controller is implemented using a P type control law with a velocity feed-forward term. The trajectories for the 4 degrees of freedom are first defined in the end-effector space according to polynomial time-laws. The end-effector velocities are transformed to joint velocities using inverse differential kinematics. These joint velocities provide the feedforward term, which is added to the scaled position error term and results to the trajectory tracking control signal. The sensing is performed by the corresponding camera robots.

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