Robotic Tasks Using Path Control: Two Case Studies |
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Authors: | Javier Moreno Rafael Kelly |
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Affiliation: | (1) División de Física Aplicada, CICESE, Apdo, Postal 2615, Adm. 1, Ensenada, B.C., 22800, Mexico |
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Abstract: | Some robotic tasks usually achieved through motion control – trajectory tracking control – can be also well performed by resorting to path control philosophy. This is the case for applications where motion coordination among the robot joints is more important than joint tracking of a timed desired reference. This paper illustrates this concept by means of two academic case studies – theory and experiments – using a two degrees-of-freedom direct-drive revolute arm. |
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Keywords: | motion control path control LaSalle's invariance principle direct-drive robot |
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