Title: Kinematic Control of Robots With Joint Constraints
Abstract: Kinematic control of robot manipulators requires that joint mechanical limits are taken into account in order to avoid the interruption of the task at hand if joint limits are reached. A novel approach to this problem is presented and compared with state of the art techniques. The proposed control scheme allows to explicitly include in the specification of the task position, velocity and acceleration costraints for the joints. An application to an existing redundant arm is discussed and experimental results are presented.
Publication Year: 1999
Publication Date: 1999-09-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 22
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