Lee, G. Kim, D. 2024-01-20T10:30:42Z 2024-01-20T10:30:42Z 2021-09-02 2014-03 1226-4873 https://pubs.kist.re.kr/handle/201004/127071 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. ？ 2013 The Korean Society of Mechanical Engineers. Korean Korean Society of Mechanical Engineers Convolution Industrial robots Convolution methods External environments Kinematic constraints Real-time computations Trajectory generation method Trajectoty generation Trapezoidal shape Velocity profiles Trajectories Trajectory generation method with convolution operation on velocity profile Article 10.3795/KSME-A.2014.38.3.283 1 Transactions of the Korean Society of Mechanical Engineers, A, v.38, no.3, pp.283 - 288 Transactions of the Korean Society of Mechanical Engineers, A 38 3 283 288 scopus kci ART001854096 2-s2.0-84898405382 Article Convolution Industrial robots Convolution methods External environments Kinematic constraints Real-time computations Trajectory generation method Trajectoty generation Trapezoidal shape Velocity profiles Trajectories Convolution operation Kinematic constraints Real-time computation Trajectoty generation