Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm
Conference
·
OSTI ID:13989
- Sandia National Laboratories
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.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
- Sponsoring Organization:
- US Department of Energy (US)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 13989
- Report Number(s):
- SAND99-2318C
- Country of Publication:
- United States
- Language:
- English
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