DocumentCode
485872
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
fYear
1983
fDate
22-24 June 1983
Firstpage
752
Lastpage
756
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1983
Conference_Location
San Francisco, CA, USA
Type
conf
Filename
4788214
Link To Document