Torque limited path following by on-line trajectory time scaling
نویسندگان
چکیده
منابع مشابه
Robot Control Using On-Line Modification of Reference Trajectories
In practice, the robot motion is specified according to physical constraints, such as limited torque input. Thus, the computation of the desired trajectory is constrained to attain the physical limit of actuator saturations. See, e.g., (Pfeiffer & Johanni, 1987), for a review of trajectory planning algorithms considering the robot model parameters and torque saturation. Besides, trajectories ca...
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ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 6 شماره
صفحات -
تاریخ انتشار 1989