Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10403582 | IFAC Proceedings Volumes | 2005 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Ki Tak Ahn, Wan Kyun Chung, Youngil Youm,