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CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS (CROSBI ID 575870)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Konjević Branislav ; Kovačić, Zdenko CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS // Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics ICINCO 2011 / Ferrier Jean-Louis ; Bernard, Alain ; Gusikhin Oleg et al. (ur.). SCITEPRESS, 2011. str. 481-489

Podaci o odgovornosti

Konjević Branislav ; Kovačić, Zdenko

engleski

CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS

This paper deals with two trajectory planning algorithms that provide a continuity of position, velocity, acceleration and jerk. The first method achieves that goal by separating a planned path and a corresponding velocity profile, while the other method combines fifth-order polynomials to satisfy the continuity of jerk and give smooth accelerations on all segments of the planned trajectory. Two methods were compared on a benchmark trajectory for a 3-DOF planar articulated robot and comments of the results obtained for each method are given.

Trajectory Planning; Jerk Continuity; 5th-order Polynomials; Planar Robot

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Podaci o prilogu

481-489.

2011.

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objavljeno

978-989-8425-74-4

Podaci o matičnoj publikaciji

Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics ICINCO 2011

Ferrier Jean-Louis ; Bernard, Alain ; Gusikhin Oleg ; Madani, Kurosh

SCITEPRESS

Podaci o skupu

The 8th International Conference on Informatics in Control, Automation and Robotics ICINCO 2011

predavanje

28.08.2011-31.08.2011

Noordwijkerhout, Nizozemska

Povezanost rada

Temeljne tehničke znanosti