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Predictive joint motion limiting in robotic applications

Published online by Cambridge University Press:  02 March 2021

Edward Red  and
Brian Fielding
Edward Red
Affiliation:
Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602–4201 (USA)
Brian Fielding
Affiliation:
Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602–4201 (USA)
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Summary

Three joint space algorithms slow the Cartesian path motion when it appears that joint motion is approaching a joint, speed, or acceleration limit. All three algorithms use quadratic curve fitting to predict where the joint motion is heading, followed by a prediction as to how much time would elapse until a limit is reached.

If a joint motion limit is encountered in the time-to-stop the Cartesian motion, these algorithms reduce the Cartesian speed using pulsed speed settings so that the robot or machine tool will have the necessary time to come to a complete stop. The joint space velocity and acceleration control algorithms set the override Cartesian speed to either full or some reduced speed, several times a second. This allows the joints to reach, but not exceed, their maximum velocity and accelerations limit, while remaining within the physical joint limits.

Keywords

Direct controlJoint motion limitingRobotic applications
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 531 - 540
Copyright
Copyright © Cambridge University Press 2003

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