Two Approaches to Bounded Jerk Trajectory Planning (CROSBI ID 585552)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Konjević, Branislav ; Punčec, Mario ; Kovačić, Zdenko
engleski
Two Approaches to Bounded Jerk Trajectory Planning
This paper presents two different approaches to trajectory planning that provide boundedness of position, velocity, acceleration and jerk. To achieve that goal on all segments of the planned trajectory, the first approach combines fifth-order and fourth-order polynomials, while the second one separates a velocity profile from a given path. Using a minimal path traversal time criterion for both approaches, the methods were tested and verified on a selected trajectory for a three degrees of freedom (DOF) planar articulated robot.
continuous jerk; trajectory planning; robots
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Podaci o prilogu
1-7.
2012.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 12th International Workshop on Advanced Motion Control AMC2012
Šabanović, Asif ; Ohnishi K.
Sarajevo:
Podaci o skupu
The 12th International Workshop on Advanced Motion Control AMC2012
predavanje
25.03.2012-27.03.2012
Sarajevo, Bosna i Hercegovina