Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles

Authors
Lee, G.Kim, D.Choi, Y.
Issue Date
2012-08
Publisher
IEEE
Citation
2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012, pp.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. ? 2012 IEEE.
ISSN
0000-0000
URI
https://pubs.kist.re.kr/handle/201004/80387
DOI
10.1109/ICMA.2012.6283421
Appears in Collections:
KIST Conference Paper > 2012
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