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Smooth motion profile for trajectory planning of a flexible manipulator

dc.contributor.authorZribi, Sameh
dc.contributor.authorMejerbi, M.
dc.contributor.authorTlijani, Hatem
dc.contributor.authorKnani, Jilani
dc.contributor.authorPuig Cayuela, Vicenç
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2019-10-30T07:55:40Z
dc.date.available2019-10-30T07:55:40Z
dc.date.issued2018
dc.identifier.citationZribi, 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.
dc.identifier.isbn978-153864449-2
dc.identifier.urihttp://hdl.handle.net/2117/171096
dc.description© 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
dc.description.abstractThis 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.
dc.format.extent5 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshRobotics
dc.subject.otherDynamic model
dc.subject.otherFlexible manipulator
dc.subject.otherModel-free control
dc.subject.otherMotion law
dc.subject.otherTrajectory generation
dc.subject.otherDynamic models
dc.subject.otherFlexible manipulators
dc.subject.otherTrajectories
dc.subject.otherDesired trajectories
dc.subject.otherModel-free control
dc.subject.otherMotion law
dc.subject.otherPolynomial functions
dc.subject.otherSingle-link manipulator
dc.subject.otherSmooth motions
dc.subject.otherTrajectory generation
dc.subject.otherTrajectory Planning
dc.subject.otherRobot programming
dc.titleSmooth motion profile for trajectory planning of a flexible manipulator
dc.typeConference report
dc.subject.lemacRobotica
dc.contributor.groupUniversitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.identifier.doi10.1109/ASET.2018.8379885
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/8379885
dc.rights.accessOpen Access
local.identifier.drac23423083
dc.description.versionPostprint (author's final draft)
local.citation.authorZribi, S.; Mejerbi, M.; Tlijani, H.; Knani, J.; Puig, V.
local.citation.contributorInternational Conference on Advanced Systems and Electric Technologies, IC_ASET 2018
local.citation.publicationName2018 International Conference on Advanced Systems and Electric Technologies, IC_ASET 2018
local.citation.startingPage376
local.citation.endingPage380


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