Dynamic Scaling of Manipulator Trajectories
| dc.contributor.author | Hollerbach, John M. | en_US |
| dc.date.accessioned | 2004-10-04T14:53:58Z | |
| dc.date.available | 2004-10-04T14:53:58Z | |
| dc.date.issued | 1983-01-01 | en_US |
| dc.identifier.other | AIM-700 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/6375 | |
| dc.description.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 to bring it within dynamic an actuating constraints. | en_US |
| dc.format.extent | 1849860 bytes | |
| dc.format.extent | 1426469 bytes | |
| dc.format.mimetype | application/postscript | |
| dc.format.mimetype | application/pdf | |
| dc.language.iso | en_US | |
| dc.relation.ispartofseries | AIM-700 | en_US |
| dc.title | Dynamic Scaling of Manipulator Trajectories | en_US |
