Dynamic scaling of manipulator trajectories

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 106, Issue 1, 1984, Pages 102-106

  Hoierbacn, J M ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS;

TIME-SCALING PROPERTY;

ROBOTICS;

EID: 0021393123     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3149652     Document Type: Article

References (13)

1. Bejczy, A. K., “Dynamic Models and Control Equations for Manipulations,” Jet Propulsion Laboratory, California Institute of Technology, 715-19, Nov. 1979.
2. Brady, J. M., Hollerbach, J. M., Johnson, T. L., Lozano-Perez, T, and Mason, M. T., Robot Motion: Planning and Control, MIT Press, Cambridge, Mass, 1983.
3. Electro-Craft Corp., DC Motors, Speed Controls, Servo Systems, Hopkins, Minn., 1980.
4. Hollerbach, J. M., “A Recursive Formulation of Lagrangian Manipulator Dynamics,” IEEE Transactions on Systems, Man, and Cybernetics, SMC-10, No. 11, 1980, pp. 730-736.
5. Hollerbach, J. M., and Flash, Tamar, “Dynamic Interactions Between Limb Segments During Planar Arm Movement,” Biol. Cybernetics, Vol. 44, 1982, pp.67-77.
6. Kahn, M. E., and Roth, B., “The Near-Minimum-Time Control of Open-Loop Articulated Kinematic Chains,” ASME Journal of Dynamic Systems, Measurement, Control, Vol. 93,1971, pp. 164-172.
7. Luh, J. Y. S., Walker, M. W., and Paul, R. P. C., “On-Line Computational Scheme for Mechanical Manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102,1980, pp. 69-76.
8. Paul, R. P. C., “Manipulator Path Control,” Proc. IEEE Int. Conf. Cybernetics and Society, New York, Sept. 1975, pp. 147-152.
9. Paul, R. P., “Manipulator Cartesian Path Control,” IEEE Trans. Systems, Man, Cybernetics, SMC-9, 1979, pp. 702-711.
10. Paul, R. P., Robot Manipulators: Mathematics, Programming and Control, MIT Press, Cambridge, Mass., 1981.
11. Silver, W., “On the Equivalence of Lagrangian and Newton-Euler Dynamics for Manipulators,” Robotics Research 1, No. 2, 1982, pp. 60-70.
12. Taylor, R. H., “Planning and Execution of Straight-Line Manipulator Trajectories,” IBM J. Research and Development, Vol. 23,1979, pp. 424-436.
13. Vukobratovic, M., and Kircanski, M., “A Method for Optimal Synthesis of Manipulation Robot Trajectories,” ASME Journal of Dynamic Systems, Measurement, Control, Vol. 104, 1982, pp. 188-193.