ABSTRACT
A gradient projection optimization technique was previously adapted to solve for the joint rates, when the end-effector is directed to move at a certain velocity [32]. The technique, when applied, in simulation, to the class of machines under investigation, effectively prevented the links from reaching their limits, was fast and provided moderately smooth joint velocities, similar to what an experienced operator would achieve. The scheme was then used within the real-time machine simulator, as a test rig, to resemble the human operator performance in a joint control mode.This was done, since a real instrumented machine similar to the one in Figure 26 was not available at the time.
