Pregled bibliografske jedinice broj: 307582
Trajectory planning algorithm based on the continuity of jerk
Trajectory planning algorithm based on the continuity of jerk // The Proceedings of the 15th Mediterranean Conference on Control and Automation / Kovačić, Zdenko (ur.).
Atena: Mediterranean Control Association, 2007. str. 1-5 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 307582 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Trajectory planning algorithm based on the continuity of jerk
Autori
Petrinec, Krešimir ; Kovačić, Zdenko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
The Proceedings of the 15th Mediterranean Conference on Control and Automation
/ Kovačić, Zdenko - Atena : Mediterranean Control Association, 2007, 1-5
ISBN
978-96-0254-664-2
Skup
The 15th Mediterranean Conference on Control and Automation
Mjesto i datum
Atena, Grčka, 27.06.2007. - 29.06.2007
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
trajectory planning; jerk continuity; planar robot
Sažetak
This paper presents a trajectory planning method that provides a continuity of position, velocity, acceleration and jerk. The method combines fifth-order and fourth-order polynomials in order to satisfy the continuity of jerk and give smooth accelerations on all segments of the planned trajectory. The proposed method was tested for movements of the three-axes planar articulated robot. The method includes limits of the velocities, accelerations, and jerks of each robot joint. Simulation results are presented and compared with the results obtained by the original Ho and Cook spline-interpolation method.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
036-0363078-3017 - Integrirano upravljanje robotskim sustavima u složenim okruženjima (Kovačić, Zdenko, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
