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On-line robot trajectory control in joint coordinates by means of imposed acceleration profiles

Published online by Cambridge University Press:  09 March 2009

Ir. L. Van Aken  and
H. Van Brussel
Ir. L. Van Aken
Affiliation:
Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, 3030 Leuven (Belgium)
H. Van Brussel
Affiliation:
Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, 3030 Leuven (Belgium)
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Summary

A method for trajectory control in the joint space is presented. An acceleration profile is proposed for each segment of the trajectory. After a twofold integration a position trajectory is obtained with advantageous characteristics. The position trajectory is completely dynamically balanced; it exhibits continuity up to the third derivative of the position. This way, minimum requirements are imposed on the actuators. The technique delivers predictable results since the trajectory deviates only slightly from a straight line connection between successive joint coordinates. Very limited computational effort is required.

Keywords

Trajectory ControlAcceleration ProfileOn-lineRobots
Type
Research Article
Information
Robotica , Volume 6 , Issue 3 , July 1988 , pp. 185 - 195
Copyright
Copyright © Cambridge University Press 1988

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