Abstract:
Motion generation gives the joint positions speeds and accelerations of manipulators, at every moment. We assume that the motion are polynomial trajectories, that ensure ...Show MoreMetadata
Abstract:
Motion generation gives the joint positions speeds and accelerations of manipulators, at every moment. We assume that the motion are polynomial trajectories, that ensure joint acceleration continuity Usual kinematical constraints, obtained with approximations, are not always sufficient, then we will focus on actuators constraints on voltages and currents.
Date of Conference: 22-28 April 1996
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-2988-0
Print ISSN: 1050-4729