A discrete-time filter for the on-line generation of trajectories with bounded velocity, acceleration, and jerk

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 3989-3994

  Gerelli, Oscar ^a   Guarino Lo Bianco, Corrado ^a  

^a UNIVERSITY OF PARMA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROLLED SYSTEM; DISCRETE-TIME FILTERS; DYNAMIC FILTER; DYNAMIC TRANSIENTS; MINIMUM TIME; ON-LINE GENERATION; ON-THE-FLY; OUTPUT SIGNAL; REAL-TIME MOTION; SMOOTH REFERENCE; TIME DERIVATIVE;

ROBOTICS; ROBOTS;

SIGNAL PROCESSING;

EID: 77955821721     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509712     Document Type: Conference Paper

References (17)

1. L. Biagiotti and C. Melchiorri, Trajectory Planning for Automatic Machines and Robots, first edition ed. Heidelberg, Germany: Springer, Berlin, 2008.
2. C.-S. Lin, P.-R. Chang, and J. Luh, "Formulation and optimization of cubic polynomial joint trajectories for industrial robots," IEEE Trans. Automatic Control, vol. AC-28, no. 12, pp. 1066-1074, 1983.
3. A. De Luca, L. Lanari, and G. Oriolo, "A sensitivity approach to optimal spline robot trajectories," Automatica, vol. 27, no. 3, pp. 535-539, 1991.
4. C. Guarino Lo Bianco and A. Piazzi, "Minimum-time trajectory planning of mechanical manipulators under dynamic constraints," Int. J. of Control, vol. 75, no. 13, pp. 967-980, 2002.
5. S. Liu, "An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators," in Proc. of the seventh Int. Work. on Advanced Motion Control, 2002, pp. 365-370.
6. T. Kröger, A. Tomiczek, and F. M. Wahl, "Towards on-line trajectory computation," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 06, 2006, pp. 736-741.
7. R. Haschke, E. Weitnauer, and H. Ritter, "On-line planning of timeoptimal, jerk-limited trajectories," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 08, 2008, pp. 3248-3253.
8. X. Broquère, D. Sidobre, and I. Herrera-Aguilar, "Soft motion trajectory planner for service manipulator robot," in Proc. of the 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 08, 2008, pp. 2808-2813.
9. C. Guarino Lo Bianco, A. Tonielli, and R. Zanasi, "Nonlinear trajectory generator," in IECON96 - 22nd Annual International Conference on the IEEE Industrial Electronics Society, Taiwan, Taipei, August 1996, pp. 195-201.
10. R. Zanasi, A. Tonielli, and C. Guarino Lo Bianco, "Nonlinear filter for smooth trajectory generation," in NOLCOS98 - 4th Nonlinear Control Systems Design Symposium 1998, vol. 1, Enschede, the Netherlands, July 1998, pp. 245-250.
11. R. Zanasi, C. Guarino Lo Bianco, and A. Tonielli, "Nonlinear filters for the generation of smooth trajectories," Automatica, vol. 36, no. 3, pp. 439-448, March 2000.
12. C. Guarino Lo Bianco and R. Zanasi, "Smooth profile generation for a tile printing machine," IEEE Trans. on Ind. Electronics, vol. 50, no. 3, pp. 471-477, 2003.
13. X. Wei, J. Wang, and Z. Yang, "Robust smooth-trajectory control of nonlinear servo systems based on neural networks," IEEE Trans. Industrial Electronics, vol. 54, no. 1, pp. 208-217, 2007.
14. O. Gerelli and C. Guarino Lo Bianco, "Real-time path-tracking control of robotic manipulators with bounded torques and torque-derivatives, " in 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2008, Nice, France, Sept. 2008, pp. 532-537.
15. R. Zanasi and R. Morselli, "Third order trajectory generator satisfying velocity, acceleration and jerk constraints," in Proc. of the 2002 IEEE Int. Conf. on Control Applications, Glasgow, Scotland, UK, Sept. 2002, pp. 1165-1170.
16. -, "Discrete minimum time tracking problem for a chain of three integrators with bounded input," Automatica, vol. 39, no. 9, pp. 1643-1649, 2003.
17. V. Utkin, "Variable structure systems with sliding modes," IEEE Transactions on Automatic Control, vol. 22, pp. 212-222, 1977.