Coping with Joint Velocity Limits in First-Order Inverse Kinematics Algorithms View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

1994

AUTHORS

Pasquale Chiacchio , Stefano Chiaverini

ABSTRACT

A major problem of inverse kinematics algorithms is that the generated joint velocities may violate the speed limits of the joint actuators; this occurs when the assigned task-space trajectory is too fast or the manipulator is required to move close to a kinematic singularity. In this paper, it is shown how to properly cope with joint velocity limits in first-order inverse kinematics algorithms, while keeping path-tracking capabilities. This goal is achieved by suitably slowing down the task-space trajectory when joint velocity limits are encountered. The time law is modified through a time warp such that the introduced virtual time allows fulfillment of the velocity constraints. A number of case studies are developed to show application of the proposed technique. More... »

PAGES

319-328

Book

TITLE

Advances in Robot Kinematics and Computational Geometry

ISBN

978-90-481-4434-1
978-94-015-8348-0

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-94-015-8348-0_32

DOI

http://dx.doi.org/10.1007/978-94-015-8348-0_32

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1025346171


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