کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
412754 | 679680 | 2007 | 8 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Compensation of velocity and/or acceleration joint saturation applied to redundant manipulator Compensation of velocity and/or acceleration joint saturation applied to redundant manipulator](/preview/png/412754.png)
The article describes a new method for velocity/acceleration redistribution in order to compensate joint velocity and/or acceleration saturation. The method is designed for redundant manipulators. When some of the joint velocities/accelerations are in saturation other joints compensate for the lack of the velocity and the velocity in the task space remains unchanged. Without the compensation the task space error would appear. Using the compensation method we can achieve maximal velocity/acceleration in the task space while preserving joint velocity/acceleration within limits. The method is also appropriate to compensate a torque saturation. Additionally, we have introduced a condition that shows if the compensation is kinematically and mathematically possible or not.
Journal: Robotics and Autonomous Systems - Volume 55, Issue 4, 30 April 2007, Pages 337–344