Dynamic Scaling of Manipulator Trajectories
Author(s)
Hollerbach, John M.
DownloadAIM-700.ps (1.764Mb)
Additional downloads
Metadata
Show full item recordAbstract
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 to bring it within dynamic an actuating constraints.
Date issued
1983-01-01Other identifiers
AIM-700
Series/Report no.
AIM-700