Robot trajectory planning using the convolution operator

Autor: C. R. Mirman, Krishna C. Gupta
Rok vydání: 1987
Předmět:
Zdroj: Journal of Robotic Systems. 4:605-619
ISSN: 1097-4563
0741-2223
Popis: An automatic trajectory planning technique is presented to produce smooth joint displacement-time functions. One can start with few approximately specified joint displacement values, or from a joint displacement-time function which is not entirely satisfactory. The final joint displacement-time function passes through the initial and final points, and lies in the vicinity of the intermediate approximate points; it also passes through some points which are in the joint dwell ranges. It is important that the final trajectory exhibit little deviation from the desired displacement values. One would also want to obtain a smooth joint acceleration function, and a rapidly declining envelope for the harmonic spectrum. This new method of trajectory planning is based upon the use of the mathematical operation of convolution. It was found that the use of convolution on a given joint displacement time function tended to decrease the peak acceleration amplitudes, while producing a smooth acceleration function. Convolution also reduced the frequency spectrum amplitudes associated with the joint functions, thus reducing the severity of vibrations which can be induced by the joint motion. While there are some drawbacks to this method, such as increased deviations at intermediate points after convolution, it will be shown that these may be reduced by using techniques described in this article.
Databáze: OpenAIRE
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