A dynamic optimal trajectory generator for Cartesian Path following
نویسندگان
چکیده
منابع مشابه
A dynamic optimal trajectory generator for Cartesian Path following
Red, Edward, "A dynamic optimal trajectory generator for Cartesian Path following" (2000). All Faculty Publications. Paper 589. SUMMARY This paper considers a dynamic and adaptive trajectory generator for negotiating paths using S-curves. Applying constant jerk transitions between the constant acceleration and deceleration periods of the trajectory, the trajectory will optimally transition to t...
متن کاملDynamic Path-Following Using Temporary Path Generator for Mobile Robots with Nonholonomic Constraints
The performance of dynamic path following of a wheeled mobile robot with nonholonomic constraints is highly affected by its initial states, because nonholonomically constrained system cannot guarantee the asymptotic stability for one equilibrium point of which errors and the time derivative of errors are zero. For this reason, the dynamic path following may yield poor performance with some init...
متن کاملTime-optimal trajectory generator under jerk constraints
Step response is widely used as the performance index of controlled systems. Thus, the ideal system would be one that has an output which approaches to the step signal quickly without error or over-shoot. However, if the output of an actual plant converges to the reference signal in a very short period, it can be dangerous to the surrounding environment as well as the operators. Furthermore, th...
متن کاملHumanoid Robot Gait Generator: Foot Steps Calculation for Trajectory Following
During bipedal gait, a robot falls from one foot to the other. This motion can be approximated with that of an inverted pendulum with discrete movements of the contact point. We detail here how to use the linear inverted pendulum model (LIPM) for selecting successive contact points in such a way that the centre of mass (COM) of the robot flexibly follows a predefined set of waypoints on a strai...
متن کاملOptimal Path Planning for a Dynamic Platform
This paper presents a complete modelling, singularity characterization and path planning design for a newly developed 3 legs 6 degree-of-freedoms (DOFs) parallel manipulator. In the presented architecture, the base platform has three linear slideways actuated respectively by a linear DC motor, and each extensible vertical link connecting the upper and base platforms is actuated by an inductive ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Robotica
سال: 2000
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574700002629