• Title, Summary, Keyword: Trajectoty Generation

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Trajectory Generation Method with Convolution Operation on Velocity Profile (속도 영역에서의 컨볼루션을 이용한 효율적인 궤적 생성 방법)

  • Lee, Geon;Kim, Doik
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.38 no.3
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    • pp.283-288
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    • 2014
  • 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.