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Smooth motion profile for trajectory planning of a flexible manipulator

Author
Zribi, S.; Mejerbi, M.; Tlijani, H.; Knani, J.; Puig, V.
Type of activity
Presentation of work at congresses
Name of edition
13th International Conference on Advanced Systems and Electric Technologies
Date of publication
2018
Book of congress proceedings
2018 International Conference on Advanced Systems and Electric Technologies, IC_ASET 2018
First page
376
Last page
380
DOI
https://doi.org/10.1109/ASET.2018.8379885 Open in new window
URL
https://ieeexplore.ieee.org/document/8379885 Open in new window
Abstract
This paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory. © 2018 IEEE.
Keywords
Desired trajectories, Dynamic model, Flexible manipulator, Flexible manipulators, Model-free control, Motion law, Polynomial functions, Robot programming, Single-link manipulator, Smooth motions, Trajectories, Trajectory Planning, Trajectory generation, Trajectory generation, Dynamic models
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants

  • Zribi, Sameh  (author and speaker )
  • Mejerbi, M.  (author and speaker )
  • Tlijani, Hatem  (author and speaker )
  • Knani, Jilani  (author and speaker )
  • Puig Cayuela, Vicenç  (author and speaker )