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Dynamic scaling of manipulator trajectories. (English) Zbl 0543.93031

Summary: A fundamental time-scaling property of manipulator dynamics has been identified that allows modification of movement speed without complete dynamics recalculation. By exploiting this property, it can be determined whether a planned trajectory is dynamically realizable given actuator torque limits, and if not, how to modify the trajectory to bring it within dynamic and actuating constraints.

MSC:

93C15 Control/observation systems governed by ordinary differential equations
70Q05 Control of mechanical systems
93B40 Computational methods in systems theory (MSC2010)
93C10 Nonlinear systems in control theory
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