Dynamic time parametrization of manipulator trajectories. (English) Zbl 0633.93048

This paper presents a method for manipulator trajectory time-scaling. Time parametrization of trajectories is performed for the case of nonredundant manipulators, which results in a time-scaling property of manipulator dynamics. The motion along a given trajectory can then be brought within the actuator torque limits, and several approximations of velocity profiles are given with relative examples. This allows the synthesis of dynamically realizable velocity profiles.
The solution is somewhat analogous to the solution of the problem of nonlinear time-scaling formulated by J. M. Hollerbach [J. Dyn. Syst. Meas. Control 106, 102-106 (1984; Zbl 0543.93031)]. An example of a straight-line motion which does not allow for any velocity profile is worked out.
In sum, the paper is quite well-written and constitutes a nice contribution to the field of manipulator trajectory planning.
Reviewer: B.Siciliano


93C95 Application models in control theory
70Q05 Control of mechanical systems
93B50 Synthesis problems
93C10 Nonlinear systems in control theory


Zbl 0543.93031
Full Text: EuDML


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