Trajectory Generation
Amirkabir University of Technology
Computer Engineering & Information Technology Department
,Introduction
How to compute a trajectory in multidimensional space
which describes the desired motion of a manipulator?
How to move a manipulator from its initial position to
some desired goal position in a smooth manner?
,Trajectory
A time history of position, velocity, and
acceleration for each DOF.
The system (not the user) will decide the exact
shape of the path to get to the goal, the duration,
the velocity profile, and other details.
A sequence of desired via points (frames which
specify position and orientation of tool) can be
given.
Path points include all the via points plus the
initial and final points.
, General Considerations
Each path point is specified in terms of a
desired position and orientation of {T}
relative to {S}.
Each of these points is converted into a set
of desired joint angles. (Inverse kinematics).
A smooth function is found for each of the n
joints which pass through the via points and
end at the goal point.
The time required for each segment is the
same for each joint.
Amirkabir University of Technology
Computer Engineering & Information Technology Department
,Introduction
How to compute a trajectory in multidimensional space
which describes the desired motion of a manipulator?
How to move a manipulator from its initial position to
some desired goal position in a smooth manner?
,Trajectory
A time history of position, velocity, and
acceleration for each DOF.
The system (not the user) will decide the exact
shape of the path to get to the goal, the duration,
the velocity profile, and other details.
A sequence of desired via points (frames which
specify position and orientation of tool) can be
given.
Path points include all the via points plus the
initial and final points.
, General Considerations
Each path point is specified in terms of a
desired position and orientation of {T}
relative to {S}.
Each of these points is converted into a set
of desired joint angles. (Inverse kinematics).
A smooth function is found for each of the n
joints which pass through the via points and
end at the goal point.
The time required for each segment is the
same for each joint.
