Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm

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Description

This work is an experimental investigation of the ability of a real three-link direct-drive arm to track model-based minimum-time trajectories that have been found off-line. Sufficiently large velocity gains in the computed torque control law were not achievable with the velocity sensors described herein. This indicates the critical importance of the velocity sensing when attempting to track trajectories that push the envelope of the system's torque capabilities.

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10 p.

Creation Information

DRIESSEN,BRIAN & PARKER,GORDON G. September 1, 1999.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM, and Livermore, CA (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This work is an experimental investigation of the ability of a real three-link direct-drive arm to track model-based minimum-time trajectories that have been found off-line. Sufficiently large velocity gains in the computed torque control law were not achievable with the velocity sensors described herein. This indicates the critical importance of the velocity sensing when attempting to track trajectories that push the envelope of the system's torque capabilities.

Physical Description

10 p.

Notes

OSTI as DE00013989

Medium: P; Size: 10 pages

Source

  • American Control Conference, 2000, Chicago, IL (US), 06/28/1999--06/30/1999

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  • Report No.: SAND99-2318C
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 13989
  • Archival Resource Key: ark:/67531/metadc625553

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  • September 1, 1999

Added to The UNT Digital Library

  • June 16, 2015, 7:43 a.m.

Description Last Updated

  • April 6, 2017, 6:47 p.m.

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DRIESSEN,BRIAN & PARKER,GORDON G. Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm, article, September 1, 1999; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc625553/: accessed September 25, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.