Journal of Dynamic Systems Measurement and Control · 1984 · 338 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringDynamical SystemsRobot DynamicsRoboticsControl Of Dynamical SystemsControl TheoryDynamic ControlManipulator ControlManipulator DynamicsMotion ControlActuator Torque DynamicsDynamic ManipulationDynamic ScalingDynamics Of Robotic ManipulatorsDynamics Of Serial ManipulatorsMotion Planning Under Dynamic ConstraintsTime Scaling Of TrajectoriesTrajectory Scaling
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 it within dynamic and actuating constraints.