Smooth motion profile for trajectory planning of a flexible manipulator
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hdl:2117/171096
Tipus de documentText en actes de congrés
Data publicació2018
Condicions d'accésAccés obert
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Abstract
This paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.
Descripció
© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
CitacióZribi, S. [et al.]. Smooth motion profile for trajectory planning of a flexible manipulator. A: International Conference on Advanced Systems and Electric Technologies, IC_ASET 2018. "2018 International Conference on Advanced Systems and Electric Technologies, IC_ASET 2018". , p. 376-380.
ISBN978-153864449-2
Versió de l'editorhttps://ieeexplore.ieee.org/document/8379885
Fitxers | Descripció | Mida | Format | Visualitza |
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ICEEE 2018 Paper Sameh.pdf | postprint | 234,1Kb | Visualitza/Obre |