Trajectory Generation Method with Convolution Operation on Velocity Profile

Title
Trajectory Generation Method with Convolution Operation on Velocity Profile
Authors
이 건김도익
Keywords
Convolution Operation; trajectory generation; Real-time Computation; Kinematic Constraints; 컨볼루션 연산; 궤적 생성; 실시간 계산; 운동학적 제약
Issue Date
2014-03
Publisher
대한기계학회논문집 A; Transactions of the Korean Society of mechanical engineers. A.
Citation
VOL 38, NO 3, 283-288
Abstract
The use of robots is no longer limited to the field of industrial robots and is now expanding into the fields of service and medical robots. In this light, a trajectory generation method that can respond instantaneously to the external environment is strongly required. Toward this end, this study proposes a method that enables a robot to change its trajectory in real-time using a convolution operation. The proposed method generates a trajectory in real time and satisfies the physical limits of the robot system such as acceleration and velocity limit. Moreover, a new way to improve the previous method (11), which generates inefficient trajectories in some cases owing to the characteristics of the trapezoidal shape of trajectories, is proposed by introducing a triangle shape. The validity and effectiveness of the proposed method is shown through a numerical simulation and a comparison with the previous convolution method.
URI
http://pubs.kist.re.kr/handle/201004/47568
ISSN
12264873
Appears in Collections:
KIST Publication > Article
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE