کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10403582 | 892345 | 2005 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
ARBITRARY STATES POLYNOMIAL-LIKE TRAJECTORY (ASPOT) GENERATION AND ITS APPLICATIONS
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final state constraints was suggested and named ZSPOT. There is a progress about it by allowing nonzero final constraints and named ASPOT. Without watching control issues behind these methods, they are shown only as a new trajectory generation method which is of discrete form so that easily applicable to most practical systems. ZSPOT is applied to a simulation of mobile-manipulator system and the effect of ASPOT is shown through experiment of a linear motor system.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 38, Issue 1, 2005, Pages 255-260
Journal: IFAC Proceedings Volumes - Volume 38, Issue 1, 2005, Pages 255-260
نویسندگان
Ki Tak Ahn, Wan Kyun Chung, Youngil Youm,