Abstract

VESLIN DIAZ, Elkin et al. Trajectory tracking for robot manipulators using differential flatness. Ing. Investig. [online]. 2011, vol.31, n.2, pp.84-90. ISSN 0120-5609.

This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalised coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space.

Keywords : condition-based maintenance; fault detection; neuronal networks; permanent magnet synchronous motor.

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