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FIR Filter-Based Online Jerk-Controlled Trajectory Generation

Communication avec acte
Auteur
BESSET, Pierre
ccBEAREE, 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]
ccGIBARU, Olivier
104752 Centre Inria de l'Université de Lille
107490 Laboratoire de Métrologie et de Mathématiques Appliquées [L2MA]
432039 Non-Asymptotic estimation for online systems [NON-A]

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

Résumé

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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    Article dans une revue avec comité de lecture
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  • Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors 
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    DAMAK, Mohamed; LELEU, Stéphane; ccOLABI, Adel; ccBEAREE, Richard; ccGIBARU, Olivier (IEEE, 2013)
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    OUESLATI, Marouene; THIERY, Stéphane; MORARU, George; ccBEAREE, Richard; ccGIBARU, Olivier (IMAACA, 2011)
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    Communication avec acte
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    In this paper, an improvement of the dynamic accuracy of a flexible robot joint is addressed. Based on the observation of the measured axis deformation, a simplified elastic joint model is deduced. In the first step, the ...

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