Dynamic Scaling of Manipulator Trajectories
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 106 Số 1 - Trang 102-106 - 1984
Tóm tắt
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.