Affiliation:
1. M.I.T. Artificial Intelligence Laboratory, 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.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
142 articles.
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