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[109] Citation: Abstract
When a mechanism such as a robot executes a trajectory, the tracking
error increases as the trajectory speed is increased. This paper
reports the experimental evaluation of an algorithm which locally
adjusts the speed of a repetitive trajectory to achieve a specified
level of tracking error. In regions of the trajectory where error is
too high, the trajectory is slowed down, in regions where the error is
below the specification, the trajectory is speeded up. The algorithm
was experimentally evaluated on a 5-axis mini direct drive robot and it
stably converged to a satisfactory trajectory for a range of error
levels and speeds in spite of wide variations in the key algorithm
parameters. The method is independent of the splining method used to
generate the trajectory and of the feedback control law, and no model
of the system is required.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:50 2008
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