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Trajectory generation and control for automatic manipulation

Published online by Cambridge University Press:  09 March 2009

Vincent Hayward ,
Laeeque Daneshmend  and
Ajit Nilakantan
Vincent Hayward
Affiliation:
McGill Research Center for Intelligent Machines, McGill University, Montreal Québec(Canada)H3A 2A7
Laeeque Daneshmend
Affiliation:
McGill Research Center for Intelligent Machines, McGill University, Montreal Québec(Canada)H3A 2A7
Ajit Nilakantan
Affiliation:
McGill Research Center for Intelligent Machines, McGill University, Montreal Québec(Canada)H3A 2A7
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Summary

A method is described to convert information available at manipulator programming level into trajectories which are suitable for tracking by a servo control system. This process generates trajectories in real time which comply with general dynamic and kinematic constraints. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoints - the actuator output demands, in particular, must remain bounded. Our scheme takes into consideration at the trajectory computation level the dynamics of the underlying system, dynamically available information acquired through sensors, and various types of constraints, such as manipulators. It has been developed in the context of a multi-manipulator programming and control system called Kali and developed at McGill University.

Keywords

Automatic manipulationTrajectory controlKali system
Type
Article
Information
Robotica , Volume 12 , Issue 2 , March 1994 , pp. 115 - 125
Copyright
Copyright © Cambridge University Press 1994

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