Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization

Ferenc Lombai, Gábor Szederkényi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

The trajectory tracking control of a 6-degree-offreedom (DOF) rigid robot arm is described in this paper. The trajectories for the joint variables are generated in third-order spline form using general constrained nonlinear optimization, taking into consideration the joint position, velocity, acceleration, jerk and overall current consumption constraints during the movement. The trajectory tracking of the individual joints is solved using a discrete-time linear controller design. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The complete inverse kinematics of the arm is symbolically calculated in the Mathematica computing environment and implemented in C++. Simulations and measurements show the applicability of the proposed method.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages655-660
Number of pages6
DOIs
Publication statusPublished - Dec 1 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: Mar 26 2008Mar 28 2008

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period3/26/083/28/08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Lombai, F., & Szederkényi, G. (2008). Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 655-660). [4516144] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516144