| 摘要 |
The invention relates to a method for determining a movement limit of a movement system, wherein firstly a degree of freedom of the movement system for which the movement limit is to be determined is defined and the respective current movement system state is made available. Subsequently, an articulation trajectory is determined for each upper articulation point of the movement system, on which articulation trajectory the articulation point can move along the degree of freedom. The movement limit can then be derived by calculating the point of intersection of the actuator movement in an extreme deflection with its respective articulation trajectory. |
