Trajectory generation and control for automatic manipulation

摘要: 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 in real time comply with general dynamic and kinematic constraints. Tracking accuracy will depend mainly on the acceleration demand of nominal trajectory setpoints - actuator output demands, particular, must remain bounded. Our scheme takes consideration computation dynamics underlying system, dynamically acquired through sensors, various types constraints, such as manipulators. It has been developed context multi-manipulator system called Kali McGill University.