0
RESEARCH PAPERS

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

Abstract

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
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In