FIR filter-based online jerk-constrained trajectory generation
Article dans une revue avec comité de lecture
Résumé
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.
Fichier(s) constituant cette publication
- Nom:
- LSIS_CEP_2017_BEAREE.pdf
- Taille:
- 3.557Mo
- Format:
- Description:
- Article pre processing
Cette publication figure dans le(s) laboratoire(s) suivant(s)
Documents liés
Visualiser des documents liés par titre, auteur, créateur et sujet.
-
Article dans une revue avec comité de lectureL’augmentation des performances des machines de positionnement passe par l’augmentation des accélérations et donc des sollicitations transmises à la structure de la machine. Ces contraintes sont susceptibles d’engendrer ...
-
Communication avec acteThis 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 ...
-
Article dans une revue avec comité de lectureThis paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. ...
-
Article dans une revue avec comité de lectureNowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall ...
-
Communication avec acteOUESLATI, Marouene; THIERY, Stéphane; MORARU, George;
BEAREE, Richard;
GIBARU, Olivier (IMAACA, 2011)
This article address the identification problem of the natural frequency and the damping ratio of a second order continuous system where the input is a sinusoidal signal. An algebra based approach for identifying parameters ...