Dynamic Scaling of Manipulator Trajectories

[+] Author and Article Information
J. M. Hollerbach

M.I.T. Artificial Intelligence Laboratory, Cambridge, Mass. 02139

J. Dyn. Sys., Meas., Control 106(1), 102-106 (Mar 01, 1984) (5 pages) doi:10.1115/1.3149652 History: Received January 31, 1983; Online July 21, 2009


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.

Copyright © 1984 by ASME
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