Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Mechanical Engineering
Predictive Joint Motion Limiting In Robotic Applications, Edward Red, Brian Fielding
Predictive Joint Motion Limiting In Robotic Applications, Edward Red, Brian Fielding
Faculty Publications
Three joint space algorithms slow the Cartesian path motion when it appears that joint motion is approaching a joint, speed, or acceleration limit. All three algorithms use quadratic curve fitting to predict where the joint motion is heading, followed by a prediction as to how much time would elapse until a limit is reached.