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.
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© 1994 Springer Science+Business Media Dordrecht
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Chiacchio, P., Chiaverini, S. (1994). Coping with Joint Velocity Limits in First-Order Inverse Kinematics Algorithms. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_32
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DOI: https://doi.org/10.1007/978-94-015-8348-0_32
Publisher Name: Springer, Dordrecht
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