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

Abstract

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.

Authors:
;
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
Sponsoring Org.:
US Department of Energy (US)
OSTI Identifier:
13989
Report Number(s):
SAND99-2318C
TRN: AH200135%%528
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: American Control Conference, 2000, Chicago, IL (US), 06/28/1999--06/30/1999; Other Information: PBD: 1 Sep 1999
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; TORQUE; TRAJECTORIES; ROBOTS; MECHANICAL TRANSMISSIONS; PERFORMANCE

Citation Formats

DRIESSEN,BRIAN, and PARKER,GORDON G. Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm. United States: N. p., 1999. Web.
DRIESSEN,BRIAN, & PARKER,GORDON G. Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm. United States.
DRIESSEN,BRIAN, and PARKER,GORDON G. Wed . "Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm". United States. https://www.osti.gov/servlets/purl/13989.
@article{osti_13989,
title = {Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm},
author = {DRIESSEN,BRIAN and PARKER,GORDON G.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {9}
}

Conference:
Other availability
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