Dynamic Scaling of Manipulator Trajectories
Author(s)Hollerbach, John M.
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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.