Kinematic Control of Robots With Joint Constraints

[+] Author and Article Information
Benedetto Allotta, Valentina Colla

PERCRO Lab, Scuola Superiore Sant’Anna, Via Carducci 40, I-56127 Pisa, Italy

Gianluca Bioli

Scienzia Machinale S.r.I., Via Marche 8a, I-56123 Pisa, Italy

J. Dyn. Sys., Meas., Control 121(3), 433-442 (Sep 01, 1999) (10 pages) doi:10.1115/1.2802493 History: Received June 12, 1998; Online December 03, 2007


Kinematic control of robot manipulators requires that joint mechanical limits are taken into account in order to avoid the interruption of the task at hand if joint limits are reached. A novel approach to this problem is presented and compared with state of the art techniques. The proposed control scheme allows to explicitly include in the specification of the task position, velocity and acceleration costraints for the joints. An application to an existing redundant arm is discussed and experimental results are presented.

Copyright © 1999 by The American Society of Mechanical Engineers
Topics: Robots , Manipulators
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