A New Technique for Compensating Joint Limits in a Robot Manipulator.

Abstract

A 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.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1996
Accession Number
ADA316960

Entities

People

  • Andre Hickman
  • Jonathan Litt
  • Ten-huei Guo

Organizations

  • Glenn Research Center

Tags

DTIC Thesaurus Topics

  • Actuators
  • Algorithms
  • Collision Avoidance
  • Direction Finding
  • Freezing
  • Manipulators
  • Motion Planning
  • Navigation
  • Orientation (Direction)
  • Position Finding
  • Robots
  • Saturation
  • Trajectories

Fields of Study

  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Control Systems Engineering.
  • Electrical Engineering

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control