{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T04:07:07Z","timestamp":1750478827641,"version":"3.41.0"},"reference-count":14,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2021,3,2]],"date-time":"2021-03-02T00:00:00Z","timestamp":1614643200000},"content-version":"unspecified","delay-in-days":6362,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2003,10]]},"abstract":"<jats:title>Summary<\/jats:title>\n\t  <jats:p>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.<\/jats:p>\n\t  <jats:p>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.<\/jats:p>","DOI":"10.1017\/s0263574702004915","type":"journal-article","created":{"date-parts":[[2003,10,9]],"date-time":"2003-10-09T11:32:00Z","timestamp":1065699120000},"page":"531-540","source":"Crossref","is-referenced-by-count":1,"title":["Predictive joint motion limiting in robotic applications"],"prefix":"10.1017","volume":"21","author":[{"given":"Edward","family":"Red","sequence":"first","affiliation":[]},{"given":"Brian","family":"Fielding","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,3,2]]},"reference":[{"key":"S0263574702004915_bib2","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2000\/DFM-14298"},{"key":"S0263574702004915_bib14","first-page":"91","volume-title":"2nd International Symposium of Robotics Research","author":"Yoshikawa","year":"1984"},{"key":"S0263574702004915_bib3","unstructured":"Red, W.E. , Evans, M. , Jensen, C.G. , Bosley, J. and Luo, Y. , \u201cMotion Planning and Trajectory Control of a Direct Machining Application\u201d, Proceedings of the IASTED International Conference Control and Applications (May 24\u201327, 2000) pp. 484\u2013489."},{"key":"S0263574702004915_bib13","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143764"},{"key":"S0263574702004915_bib1","unstructured":"Bassett, C.P. , Jensen, C.G. , Bosley, J. , Luo, Y. , Red, W.E. and Evans, M. , \u201cDirect Machining Architectures Using CAD-CAM Generative Methods\u201d, Proceedings of the IASTED International Conference Control and Applications (May 24\u201327, 2000) pp. 287\u2013294."},{"key":"S0263574702004915_bib9","doi-asserted-by":"publisher","DOI":"10.1163\/156855397X00380"},{"key":"S0263574702004915_bib12","unstructured":"Newcastle University's Chemical and Process Engineering Web Server, \u201cDealing with Measurement Noise\u201d, \u00a9 M.T. Tham (1996\u20131998). See Web URL: http:\/\/lorien.ncl.ac.uk\/ming\/filter\/fiewma.htm."},{"key":"S0263574702004915_bib7","doi-asserted-by":"publisher","DOI":"10.1163\/156855399X00126"},{"key":"S0263574702004915_bib5","doi-asserted-by":"crossref","unstructured":"Chiaverini, S. and Fusco, G. , \u201cA New Inverse Kinematics Algorithm With Path Tracking Capability Under Velocity and Acceleration Constraints\u201d, Proceedings of the 38th Conference on Decision and Control (May, 1999) pp. 2064\u20132069.","DOI":"10.1109\/CDC.1999.831223"},{"key":"S0263574702004915_bib11","unstructured":"Fielding, B. , \u201cPredictive Joint Motion Limiting in Robotic Applications,\u201d M.S. 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