Real-time end-effector path following for robot manipulators subject to velocity, acceleration, and jerk joint limits

被引：0
|
作者：
Antonelli, G [1 ]
Chiaverini, S [1 ]
Fusco, G [1 ]
机构：
[1] Univ Cassino, Dipartimento Automaz Elettromagnetismo Ingn Infor, I-03043 Cassino, FR, Italy
来源：
2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an inverse kinematics algorithm for robot manipulators is developed which takes into account joint velocity, acceleration and jerk limits while ensuring tracking of the assigned end-effector path. The desired end-effector trajectory is supposed to be assigned on-line and the algorithm is suitable for real-time implementation on nonredundant robot arms. Numerical simulation results are reported to demonstrate the effectiveness of the proposed technique.
引用
收藏
页码：452 / 457
页数：2
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