Keywords
Direct control, Joint motion limiting, Robotic applications
Abstract
Three joint space algorithms slow the Cartesian path motion when it appears that joint motion is approaching a joint, speed, or acceleration limit. All three algorithms use quadratic curve fitting to predict where the joint motion is heading, followed by a prediction as to how much time would elapse until a limit is reached.
Original Publication Citation
Robotica 21.5(Oct 23): 531-54.
BYU ScholarsArchive Citation
Red, Edward and Fielding, Brian, "Predictive joint motion limiting in robotic applications" (2003). Faculty Publications. 473.
https://scholarsarchive.byu.edu/facpub/473
Document Type
Peer-Reviewed Article
Publication Date
2003-10-08
Permanent URL
http://hdl.lib.byu.edu/1877/1160
Publisher
Cambridge University Press
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
© 2003 Cambridge University Press
Copyright Use Information
http://lib.byu.edu/about/copyright/
