Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Geon | - |
dc.contributor.author | Kim, Doik | - |
dc.contributor.author | Choi, Youngjin | - |
dc.date.accessioned | 2021-06-23T09:43:38Z | - |
dc.date.available | 2021-06-23T09:43:38Z | - |
dc.date.created | 2021-01-22 | - |
dc.date.issued | 2012-08 | - |
dc.identifier.issn | 2152-7431 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/36185 | - |
dc.description.abstract | This paper suggests a trajectory generation method using convolution operation. The proposed trajectory method always generates differentiable S-curve shape regardless of irregular time intervals, even when a new target is inputted before the trajectory does not reach to the previous target, or when a target is lost due to the communication problems. Also, the proposed method generates a trajectory considering physical system limits, for instance, maximum velocity, acceleration, and jerk, through the successive digital convolution that can reduce computational load, by using a recursive form of convolution operation. The effectiveness of the proposed method is shown through simulations. © 2012 IEEE. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Choi, Youngjin | - |
dc.identifier.doi | 10.1109/ICMA.2012.6283421 | - |
dc.identifier.scopusid | 2-s2.0-84867595258 | - |
dc.identifier.bibliographicCitation | 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, pp.1196 - 1201 | - |
dc.relation.isPartOf | 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 | - |
dc.citation.title | 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 | - |
dc.citation.startPage | 1196 | - |
dc.citation.endPage | 1201 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Communication problems | - |
dc.subject.keywordPlus | Computational loads | - |
dc.subject.keywordPlus | Discontinuous target input | - |
dc.subject.keywordPlus | Maximum velocity | - |
dc.subject.keywordPlus | Physical limits | - |
dc.subject.keywordPlus | Physical systems | - |
dc.subject.keywordPlus | Recursive forms | - |
dc.subject.keywordPlus | S-curve | - |
dc.subject.keywordPlus | Target angle | - |
dc.subject.keywordPlus | Time interval | - |
dc.subject.keywordPlus | Trajectory generation | - |
dc.subject.keywordPlus | Trajectory generation method | - |
dc.subject.keywordPlus | Trajectory method | - |
dc.subject.keywordPlus | Communication | - |
dc.subject.keywordPlus | Convolution | - |
dc.subject.keywordPlus | Trajectories | - |
dc.subject.keywordAuthor | Convolution | - |
dc.subject.keywordAuthor | Discontinuous target input | - |
dc.subject.keywordAuthor | Physical limits | - |
dc.subject.keywordAuthor | Trajectory generation | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/6283421 | - |
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