Faster and Smoother Trajectory Generation considering Physical System Limits under Discontinuously Assigned Target Angles

Title
Faster and Smoother Trajectory Generation considering Physical System Limits under Discontinuously Assigned Target Angles
Authors
이건김도익최영진
Keywords
Trajectory generation; physical limit; discontinuous target input; convolution
Issue Date
2012-08
Publisher
ICMA 2012
Citation
, 1196-1201
Abstract
This paper suggests a trajectory generation method using convolution operation. The proposed trajectory method always generates differentiable S-curve shape regardless of irregular time intervals, even when a new target is inputted before the trajectory does not reach to the previous target, or when a target is lost due to the communication problems. Also, the proposed method generates a trajectory considering physical system limits, for instance, maximum velocity, acceleration, and jerk, through the successive digital convolution that can reduce computational load, by using a recursive form of convolution operation. The effectiveness of the proposed method is shown through simulations.
URI
http://pubs.kist.re.kr/handle/201004/42946
Appears in Collections:
KIST Publication > Conference Paper
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