디지털 컨볼루션을 이용한 시스템 제한이 고려된 궤적 생성 방법

Abstract

This paper proposes a new trajectory generation method guaranteeing a velocity boundedness, an acceleration bounded ness, and a jerk boundedness using a digital convolution for robotic motion applications. If these boundednesses are not guaranteed when generating desired robot motions, unexpected damages may happen when implementing robot motion control. In addition, the proposed method can be realized in real-time because it requires low computational burden. The effectiveness of the suggested method is suggested through numerical simulations for a point-to-point motion generation application.