Robotic manipulators are usually driven by means of minimum-time trajectories. Unfortunately, such trajectories strongly solicit the actuators, which dynamic limits could be easily exceeded. Therefore, kinematic and/or dynamic constraints are commonly considered during the off-line planning phase.

Nevertheless, dynamic limits could still be violated during actual operations due to model uncertainties, disturbances or controlled deeds, thus causing a performance loss.

In the seminar, a brief panoramic of the methods used for managing such problems will be given and a method for the online trajectory scaling will be proposed.