Model based trajectory planning using previewThe control of manipulators is seen here as a two-level process. A method is described to convert information available at the programming level into trajectories suitable to be tracked by a servo control system. The goal of the servo is to absorb the unmodeled dynamics. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoint, in particular, the actuator output demand must remain bounded. Our scheme adaptively takes into consideration at the trajectory computation level the dynamics of the underlying system, dynamically available information acquired through sensors, various types of constraints, such as path accuracy, and manipulator optimization. This scheme is meant to be implemented on-line, to drive mechanical systems such as manipulators. It is developed in the context of a multi-manipulator programming and control environment for space applications developed as part of a collaborative effort between McGill University and the Jet Propulsion Laboratory.
Document ID
19900023315
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hayward, Vincent (McGill Univ. Montreal Quebec, Canada)
Daneshmend, Laeeque (McGill Univ. Montreal Quebec, Canada)
Nilakantan, Ajit (McGill University Montreal, Canada)