Trajectory tracking is accomplished by obtaining separate solutions to the geometric path-tracking problem and the temporal tracking problem. A methodology enabling the geometric tracking of a desired planar or spatial path to any order with a nonredundant manipulator is developed. In contrast to previous work, the equations are developed using one of the manipulator’s joint variables as the independent parameter in a fixed global frame rather than a configuration-dependent canonical frame. Both these features provide significant practical advantages. Furthermore, a strategy for determining joint velocities and accelerations at singular configurations is provided, which allows the manipulator to approach and/or move out of a singular configuration with finite joint velocities without sacrificing the geometric fidelity of tracking. An example shows a spatial six-revolute robot tracking a trajectory using the developed method in conjunction with resolved-acceleration feedback control.
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e-mail: ambike.1@osu.edu
e-mail: schmiedeler.4@nd.edu
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Trajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems
Satyajit Ambike,
Satyajit Ambike
Department of Mechanical Engineering,
e-mail: ambike.1@osu.edu
The Ohio State University
, Columbus, OH 43210
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James P. Schmiedeler,
James P. Schmiedeler
Aerospace and Mechanical Engineering,
e-mail: schmiedeler.4@nd.edu
University of Notre Dame
, Notre Dame, IN 46556
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Michael M. Stanišić
Michael M. Stanišić
Aerospace and Mechanical Engineering,
e-mail: stanisic.4@nd.edu
University of Notre Dame
, Notre Dame, IN 46556
Search for other works by this author on:
Satyajit Ambike
Department of Mechanical Engineering,
The Ohio State University
, Columbus, OH 43210e-mail: ambike.1@osu.edu
James P. Schmiedeler
Aerospace and Mechanical Engineering,
University of Notre Dame
, Notre Dame, IN 46556e-mail: schmiedeler.4@nd.edu
Michael M. Stanišić
Aerospace and Mechanical Engineering,
University of Notre Dame
, Notre Dame, IN 46556e-mail: stanisic.4@nd.edu
J. Mechanisms Robotics. May 2011, 3(2): 021008 (12 pages)
Published Online: April 7, 2011
Article history
Received:
August 16, 2010
Revised:
November 24, 2010
Online:
April 7, 2011
Published:
April 7, 2011
Citation
Ambike, S., Schmiedeler, J. P., and Stanišić, M. M. (April 7, 2011). "Trajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems." ASME. J. Mechanisms Robotics. May 2011; 3(2): 021008. https://doi.org/10.1115/1.4003272
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