Title :
Dynamic Scaling of Manipulator Trajectories
Author :
Hollerbac, John M.
Author_Institution :
Assistant Professor of Psychology, M.I.T., Artificial Intelligence Laboratory, 545 Technology Square, Cambridge, Mass. 02139
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.
Keywords :
Actuators; Computational efficiency; Equations; Gravity; Manipulator dynamics; Process planning; Psychology; Tensile stress; Torque; Trajectory;
Conference_Titel :
American Control Conference, 1983
Conference_Location :
San Francisco, CA, USA
