The paper presents a trajectory generator for point-to-point movements in the field of motion control systems such as are used in robotics. A nonlinear dynamic trajectory generator is proposed. It is a closed loop system which provides the best trajectory compatible with the user selectable constraints on motion state variables (velocity, acceleration, etc.). Constraints on state variables can be fixed or task dependent. They can be changed during system operation without impairing filter stability or introducing overshoot in the trajectory.
Nonlinear trajectory generator for motion control systems / GUARINO LO BIANCO, Corrado; A., Tonielli; R., Zanasi. - 1:(1996), pp. 195-201. (Intervento presentato al convegno 1996 IEEE IECON 22nd Int. Conf. on Ind. Electr., Control, and Instr. tenutosi a Taipei, Taiwan nel 5-10 Aug) [10.1109/IECON.1996.570952].
Nonlinear trajectory generator for motion control systems
GUARINO LO BIANCO, Corrado;
1996-01-01
Abstract
The paper presents a trajectory generator for point-to-point movements in the field of motion control systems such as are used in robotics. A nonlinear dynamic trajectory generator is proposed. It is a closed loop system which provides the best trajectory compatible with the user selectable constraints on motion state variables (velocity, acceleration, etc.). Constraints on state variables can be fixed or task dependent. They can be changed during system operation without impairing filter stability or introducing overshoot in the trajectory.| File | Dimensione | Formato | |
|---|---|---|---|
|
GuaTonZan96.pdf
non disponibili
Tipologia:
Documento in Post-print
Licenza:
NON PUBBLICO - Accesso privato/ristretto
Dimensione
621.87 kB
Formato
Adobe PDF
|
621.87 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
