文章基本信息

标题：Control of Wall Mounting Robot
本地全文：下载
作者：Christoffer Sloth ; Rasmus Pedersen
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：5648-5653
DOI：10.1016/j.ifacol.2017.08.1113
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a method for designing controllers for trajectory tracking with actuator constraints. In particular, we consider a joystick-controlled wall mounting robot called WallMo. In contrast to previous works, a model-free approach is taken to the control problem, where the path parameter for the trajectory is adapted online. We demonstrate the method on a dynamic model of WallMo using predefined motion primitives, i.e. we consider path-constrained trajectory generation. It is seen that the control scheme results in improved trajectory tracking.
关键词：KeywordsRobotics technologyMotion Control Systems