FIR filter-based online jerk-constrained trajectory generation
dc.contributor.author | BESSET, Pierre |
dc.contributor.author
hal.structure.identifier | BEAREE, Richard
|
dc.date.accessioned | 2017 |
dc.date.available | 2017 |
dc.date.issued | 2017 |
dc.date.submitted | 2017 |
dc.identifier.issn | 0967-0661 |
dc.identifier.uri | http://hdl.handle.net/10985/11974 |
dc.description.abstract | In the context of human-robot manipulation interaction for service or industrial robotics, the robot controller must be able to quickly react to unpredictable events in dynamic environments. In this paper, a FIR filter-based trajectory generation methodology is presented, combining the simplicity of the analytic second-order trajectory generation, i.e. acceleration-limited trajectory, with the flexibility and computational efficiency of FIR filtering, to generate on the fly smooth jerk-constrained trajectories. The proposed methodology can generate synchronized (fixed-time) and time-optimal jerk-limited trajectories from arbitrary initial velocity and acceleration conditions within 20 microsecond. Other jerk-constrained trajectories such as jerk-time fixed trajectories, which are particularly suitable for vibration reduction, can be easily generated. Experimental validations carried out on a seven axis Kuka LBR iiwa are presented. |
dc.language.iso | en |
dc.publisher | Elsevier |
dc.rights | Pre-print |
dc.subject | Online trajectory generation |
dc.subject | Time-optimal trajectory |
dc.subject | Jerk |
dc.subject | FIR filter |
dc.subject | Vibration |
dc.title | FIR filter-based online jerk-constrained trajectory generation |
dc.typdoc | Article dans une revue avec comité de lecture |
dc.localisation | Centre de Lille |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
ensam.audience | Internationale |
ensam.page | 169-180 |
ensam.journal | Control Engineering Practice |
ensam.volume | 66 |
ensam.peerReviewing | Oui |
hal.identifier | hal-01575057 |
hal.version | 1 |
hal.status | accept |