Trajectory generation; Jerk-Bounded; Digital convolution
Issue Date
2009-10
Publisher
KROS
Citation
The 6th International Conference on Ubiquitous Robots and Ambient Intelligence, Page. 689-691
Abstract
This paper proposes a jerk-bounded trajectory
generation method using a digital convolution. The
suggested jerk-bounded trajectory is able to reduce
unexpected damages for a robot motion control system
and to improve a tracking accuracy/speed of the control
system. Also, it can be implemented in real-time because it
requires low computational loads. The effectiveness of the
suggested method is shown through numerical simulations
for a point-to-point (PTP) motion generation application.