The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Synchronized On-line Trajectory Generation Method for Mechanical System with Multiple Degrees-of-Freedom

다자유도 기계 시스템의 모션 제어를 위한 동기된 온라인 궤적 생성 방법

  • Won, Daehee (Robotics R&D Group, Korea Institute of Industrial Technology) ;
  • Shin, Eunchol (Robotics R&D Group, Korea Institute of Industrial Technology)
  • Received : 2017.04.19
  • Accepted : 2017.07.27
  • Published : 2017.09.01
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Abstract

This work presents a synchronized on-line trajectory generation algorithm for mechanical system with multiple degrees-of-freedom. Proposed algorithm is designed to generate time-optimized trajectories and synchronized trajectories under the constraints such as maximum speed, acceleration, deceleration, non-zero initial velocity, etc. Also, because of small computation time, therefore this can be applied in real-time and it is easier to change the trajectory when an event occurs. We verified the feasibility through various trajectory generation.

Keywords

References

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