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Dynamic Scaling of Manipulator Trajectories
(1983-01-01)
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 ...
Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics
(1983-04-01)
An efficient algorithm is presented for the calculation of the inverse kinematic accelerations for a 6 degree-of-freedom manipulator with a spherical wrist. The inverse kinematic calculation is shown to work synergistically ...