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Dynamic Approach to Motion Generation

  • Miomir Vukobratović
  • Manja Kirćanski
Part of the Communications and Control Engineering Series book series (CCE, volume 3)

Abstract

Various methods for robot motion generation, based on the kinematic model of the manipulator, have been presented in the previous chapter. The problem of distributing motion to individual degrees of freedom is thus resolved. Kinematical constraints on maximal joint coordinates, velocity and acceleration are taken into account.

Keywords

Optimal Trajectory Canonical System Optimal Velocity Manipulation System Driving Torque 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag, Berlin, Heidelberg 1986

Authors and Affiliations

  • Miomir Vukobratović
    • 1
  • Manja Kirćanski
    • 1
  1. 1.Serbian Academy of Sciences and Arts Institute »Mihailo Pupin«BelgradeYugoslavia

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