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A New Technique for Compensating Joint Limits in a Robot ManipulatorA new robust, optimal, adaptive technique for compensating rate and position limits in the joints of a six degree-of-freedom elbow manipulator is presented. In this new algorithm, the unmet demand as a result of actuator saturation is redistributed among the remaining unsaturated joints. The scheme is used to compensate for inadequate path planning, problems such as joint limiting, joint freezing, or even obstacle avoidance, where a desired position and orientation are not attainable due to an unrealizable joint command. Once a joint encounters a limit, supplemental commands are sent to other joints to best track, according to a selected criterion, the desired trajectory.
Document ID
19970020204
Acquisition Source
Legacy CDMS
Document Type
Technical Memorandum (TM)
Authors
Litt, Jonathan (Army Research Lab. Cleveland, OH United States)
Hickman, Andre (Morehouse Coll. Atlanta, GA United States)
Guo, Ten-Huei (NASA Lewis Research Center Cleveland, OH United States)
Date Acquired
September 6, 2013
Publication Date
October 1, 1996
Subject Category
Cybernetics
Report/Patent Number
NAS 1.15:107330
ARL-TR-1101
NASA-E-10451
NASA-TM-107330
AD-A316960
Accession Number
97N21651
Funding Number(s)
PROJECT: DA Proj. 1L1-61102-AH-45
PROJECT: RTOP 505-62-50
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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