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Keywords: velocity cone
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Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 788–799.
Published Online: April 5, 2006
... and acceleration at each time instant than the robot can provide. A new coupled non-linear dynamics model is derived. The novel concepts of Velocity and Acceleration Cones are proposed for determining the kinematic and dynamic constraints. The Velocity Cone is based on kinematics; we propose two Acceleration Cones...
