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This paper presents an experimental case study concerning the application of an on-line inverse kinematics algorithm ensuring tracking of the assigned end-effector path to a six-dof industrial robot manipulator. The desired trajectory to be followed by the manipulator in the presence of velocity and acceleration joint limits is generated on-line while the robot manipulator is in motion. Path tracking is achieved by properly slowing down the task-space trajectory via a time warp when joint limits are encountered. The experimental results confirm the effectiveness of the adopted algorithm and show that the desired path is kept as much as possible.
Control Applications, 2002. Proceedings of the 2002 International Conference on (Volume:1 )
Date of Conference: 2002