Pregled bibliografske jedinice broj: 575776
Two Approaches to Bounded Jerk Trajectory Planning
Two Approaches to Bounded Jerk Trajectory Planning // Proceedings of the 12th International Workshop on Advanced Motion Control AMC2012 / Šabanović, Asif ; Ohnishi K. (ur.).
Sarajevo, 2012. str. 1-7 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 575776 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Two Approaches to Bounded Jerk Trajectory Planning
Autori
Konjević, Branislav ; Punčec, Mario ; Kovačić, Zdenko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 12th International Workshop on Advanced Motion Control AMC2012
/ Šabanović, Asif ; Ohnishi K. - Sarajevo, 2012, 1-7
Skup
The 12th International Workshop on Advanced Motion Control AMC2012
Mjesto i datum
Sarajevo, Bosna i Hercegovina, 25.03.2012. - 27.03.2012
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
continuous jerk; trajectory planning; robots
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
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
