FIR filter-based online jerk-constrained trajectory generation
نویسندگان
چکیده
منابع مشابه
Inverse Kinematics: New Method for Minimum Jerk Trajectory Generation
The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while minimizing the jerk of the joints trajectories. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, no contraintes on the accelerations or the jerk of the obtained trajectories can ...
متن کاملAutomatic FIR Filter Generation for FPGAs
Abstract. This paper presents a new tool for the automatic generation of highly parallelized Finite Impulse Response (FIR) filters. In this approach we follow our PARO design methodology. PARO is a design system project for modeling, transformation, optimization, and synthesis of massively parallel VLSI architectures. The FIR filter generator employs during the design flow the following advance...
متن کاملNavigation-based Constrained Trajectory Generation for Advanced Driver Assistance Systems
This paper presents a new approach to constrained trajectory generation dedicated to Advanced Driver Assistance Systems. Based on the information provided by the digital map database of a navigation system, the proposed solution is devoted to a control-oriented trajectory generation approach taking account of constraints which limit the behaviour of a common car, relative to the road to be foll...
متن کاملSystolic FIR filter Based FPGA
In this paper, we first review in detail the basic building blocks of reconfigurable devices, essentially, the fieldprogrammable gate arrays (FPGAs), then we describes a highspeed, reconfigurable, Systolic FIR filter design implemented in the Virtex-II series of FPGAs. The VHDL description of this filter is used for simulation and EDIF for implementation using Xilinx's place and route tools. Th...
متن کاملVision-Based Online Trajectory Generation and Its Application to Catching
In this paper a method for sensor-based online trajectory generation is proposed. This method is based on a nonlinear mapping from sensor information to a desired trajectory, and a nonlinear mapping is decided by online learning based on constraints of dynamics and kinematics. This method is applied to a catching task, and responsive and flexible motion is realized based on realtime high-speed ...
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: Control Engineering Practice
سال: 2017
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2017.06.015