Direct control, Joint motion limiting, Robotic applications
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). All Faculty Publications. 473.
Cambridge University Press
Ira A. Fulton College of Engineering and Technology
© 2003 Cambridge University Press
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