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FIR Filter-Based Online Jerk-Controlled Trajectory Generation

Communication avec acte
Author
BESSET, Pierre
178374 Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM]
199402 Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
BEAREE, Richard
178374 Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM]
199402 Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
GIBARU, Olivier
104752 Inria Lille - Nord Europe
107490 Laboratoire de Métrologie et de Mathématiques Appliquées [L2MA]
178374 Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM]
199402 Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
432039 Non-Asymptotic estimation for online systems [NON-A]

URI
http://hdl.handle.net/10985/11402
DOI
10.1109/ICIT.2016.7474730
Date
2016

Abstract

This paper presents a novel approach to generate online jerk-limited trajectories for multi-DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low computational cost acceleration-limited profiles into jerk-limited profiles. Starting from a new setpoint, e.g. an event given by external sensors, and an arbitrary state of motion, i.e. with nonzero initial velocity and acceleration values, the proposed method can generate different shapes of jerk profile, including timeoptimal and fixed-time jerk-limited trajectories. A new definition of the velocity, acceleration and jerk kinematic limits can be instantaneously taken into account during the motion. Moreover, the very low calculation time (less than 1 microsecond) makes it possible to easily control a multi-DOF system during one control cycle (classically about 1 millisecond), while preserving time for other computer processing. The algorithm is experimentally tested on the new 7-DOF industrial robot KUKA LWR iiwa.

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