Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2018-02-19T01:34:42Z | - |
dc.date.available | 2018-02-19T01:34:42Z | - |
dc.date.issued | 2015-08 | - |
dc.identifier.citation | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 229, No. 12, Page. 2127-2143 | en_US |
dc.identifier.issn | 0954-4062 | - |
dc.identifier.issn | 2041-2983 | - |
dc.identifier.uri | http://journals.sagepub.com/doi/abs/10.1177/0954406214553982 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/38019 | - |
dc.description.abstract | In order for robots to be operated in a variety of environmental conditions, a smooth motion trajectory to goal point is needed in accordance with actuators specifications of the robot. In this paper, a conventional cubic polynomial method for symmetric curve (S-curve) trajectory planning is extended to the smooth (infinitely differentiable and continuous) symmetric and asymmetric curve (AS-curve) trajectory planning derived from a smooth jerk function. In other words, the proposed methods are able to generate the trajectory as S/AS-curve form as well as to satisfy several physical limits such as jerk limit, acceleration limit, and velocity limit. The effectiveness of the proposed methods is shown through comparative studies with existing method. | en_US |
dc.description.sponsorship | This work was supported in part by the Global Frontier R&D Program on "Human-centered Interaction for Coexistence" funded by the National Research Foundation of Korea grant funded by the Korean Government (MSIP) (NRF-2012M3A6A3057080), and in part by the National Research Foundation (NRF-2013R1A1A2010192), Republic of Korea. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | SAGE PUBLICATIONS LTD | en_US |
dc.subject | Trajectory planning | en_US |
dc.subject | smooth trajectory | en_US |
dc.subject | symmetric curve | en_US |
dc.subject | asymmetric curve | en_US |
dc.subject | ROBOT MANIPULATORS | en_US |
dc.subject | JERK | en_US |
dc.subject | ACCELERATION | en_US |
dc.subject | ALGORITHMS | en_US |
dc.subject | CONSTRAINT | en_US |
dc.subject | PROFILES | en_US |
dc.subject | MACHINE | en_US |
dc.title | Smooth trajectory planning methods using physical limits | en_US |
dc.type | Article | en_US |
dc.relation.no | 12 | - |
dc.relation.volume | 229 | - |
dc.identifier.doi | 10.1177/0954406214553982 | - |
dc.relation.page | 2127-2143 | - |
dc.relation.journal | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | - |
dc.contributor.googleauthor | Lee, An Yong | - |
dc.contributor.googleauthor | Choi, Young Jin | - |
dc.relation.code | 2015001293 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | cyj | - |
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