| Title |
Synchronized On-line Trajectory Generation Method for Mechanical System with Multiple Degrees-of-Freedom |
| Authors |
원대희(Won, Daehee) ; 신은철(Shin, Eunchol) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.9.1385 |
| Keywords |
Trajectory generation ; Time-optimal trajectory ; Synchronized trajectory |
| Abstract |
This work presents a synchronized on-line trajectory generation algorithm for mechanical system with multiple degrees-of-freedom. Proposed algorithm is designed to generate time-optimized trajectories and synchronized trajectories under the constraints such as maximum speed, acceleration, deceleration, non-zero initial velocity, etc. Also, because of small computation time, therefore this can be applied in real-time and it is easier to change the trajectory when an event occurs. We verified the feasibility through various trajectory generation. |