Grounding Discrete-Time Joint-Level Acceleration Bounds in Voltage-Constrained Actuation

Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits.However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction.We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints.Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA removes unrealizable accelerations, restores consistent near-constraint execution, and reduces constraint-induced oscillations.