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A new technique for compensating joint limits in a robot manipulator
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Hickman, Andre Litt, Jonathan Guo, Ten-Huei |
| Copyright Year | 1996 |
| Description | A new robust, optimal, adaptive technique for compensating rate and position limits in the joints of a six degree-of-freedom elbow manipulator is presented. In this new algorithm, the unmet demand as a result of actuator saturation is redistributed among the remaining unsaturated joints. The scheme is used to compensate for inadequate path planning, problems such as joint limiting, joint freezing, or even obstacle avoidance, where a desired position and orientation are not attainable due to an unrealizable joint command. Once a joint encounters a limit, supplemental commands are sent to other joints to best track, according to a selected criterion, the desired trajectory. |
| File Size | 985606 |
| Page Count | 26 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19970020204 |
| Archival Resource Key | ark:/13960/t3sv2hr82 |
| Language | English |
| Publisher Date | 1996-10-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Actuators Degrees of Freedom Control Systems Design Obstacle Avoidance Manipulators Adaptive Control Robotics Robot Arms Trajectory Planning Algorithms Least Squares Method Optimal Control End Effectors Weighting Functions Matrices Mathematics Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
