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Trajectory Generation Method with Convolution Operation on Velocity Profile

속도 영역에서의 컨볼루션을 이용한 효율적인 궤적 생성 방법

  • Lee, Geon (Research Institute of Engineering and Technology, Hanyang Univ.) ;
  • Kim, Doik (Korea Institute of Science and Technology)
  • 이건 (한양대학교 공학기술연구소) ;
  • 김도익 (한국과학기술연구원)
  • Received : 2013.08.27
  • Accepted : 2014.01.13
  • Published : 2014.03.01

Abstract

The use of robots is no longer limited to the field of industrial robots and is now expanding into the fields of service and medical robots. In this light, a trajectory generation method that can respond instantaneously to the external environment is strongly required. Toward this end, this study proposes a method that enables a robot to change its trajectory in real-time using a convolution operation. The proposed method generates a trajectory in real time and satisfies the physical limits of the robot system such as acceleration and velocity limit. Moreover, a new way to improve the previous method (11), which generates inefficient trajectories in some cases owing to the characteristics of the trapezoidal shape of trajectories, is proposed by introducing a triangle shape. The validity and effectiveness of the proposed method is shown through a numerical simulation and a comparison with the previous convolution method.

Keywords

Trajectoty Generation;Convolution Operation;Real-time Computation;Kinematic Constraints

Acknowledgement

Supported by : 한국연구재단

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