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Dynamic Scaling of Manipulator Trajectories
Open accessAbstract
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.
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Citations
Cited by
Time-Optimal Control of Robotic Manipulators Along Specified Paths
Bobrow, J. E., Dubowsky, S., & Gibson, J. S. (1985) · The International Journal of Robotics Research · doi:10.1177/027836498500400301 · Cited by 1,315
Kinematic features of unrestrained vertical arm movements
Atkeson, C., & Hollerbach, J. (1985) · The Journal of Neuroscience · doi:10.1523/jneurosci.05-09-02318.1985 · Cited by 926
Self-citationA concept for manipulator trajectory planning
Pfeiffer, F., & Johanni, R. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087090 · Cited by 478
Dynamics systems vs. optimal control — a unifying view
Schaal, S., Mohajerian, P., & Ijspeert, A. (2007) · Progress in Brain Research · doi:10.1016/s0079-6123(06)65027-9 · Cited by 260
Rojas, R. A., Garcia, M. A. R., Gualtieri, L., & Rauch, E. (2021) · Procedia CIRP · doi:10.1016/j.procir.2020.08.003 · Cited by 18
Metadata
- Authors
- Hollerbach, J. M.
- Venue
- Journal of Dynamic Systems, Measurement, and Control
- Publisher
- ASME International
- Published
- 1984-03-01
- Volume
- 106
- Issue
- 1
- Pages
- 102-106
- ISSN
- 0022-0434 (ISSN-L)
- 1528-9028
- OpenAlex
- W2004406110
- Cited by
- 338
- References
- 0
- FWCI
- 22.44
- Type
- journal article
- Language
- en
- Open access
- green
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- Hollerbach, J. M. (1984). Dynamic Scaling of Manipulator Trajectories. Journal of Dynamic Systems, Measurement, and Control. https://doi.org/10.1115/1.3149652
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
