Name
Title | ||
|---|---|---|
A real-time nearly time-optimal point-to-point trajectory planning method using dynamic movement primitives |
Abstract | ||
|---|---|---|
This paper focuses on highly efficient real-time capable time-optimal trajectory planning for point-to-point motions. A method based on the concept of dynamic movement primitives is developed. Thereby an offline generated time-optimal point-to-point trajectory considering nonlinear physical constraints serves as reference for a movement primitive. Through variation of the goal position in a small range around the reference target, new nearly time-optimal point-to-point trajectories are obtained. For the required reconsideration of the physical constraints, a strategy is derived from a common minimum-time optimization problem formulation. Finally a comparison between this and existing realtime capable time-optimal trajectory planning methods is drawn using a six degree-of-freedom serial robot. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/RAAD.2014.7002244 | Robotics in Alpe-Adria-Danube Region |
Keywords | DocType | Citations |
optimal control,path planning,real-time systems,trajectory control,degree-of-freedom serial robot,dynamic movement primitives,goal position,minimum-time optimization problem formulation,nonlinear physical constraint,offline generated time-optimal point-to-point trajectory,point-to-point motion,real-time capable time-optimal trajectory planning,real-time nearly time-optimal point-to-point trajectory planning method,realtime capable time-optimal trajectory planning method,trajectory,decision support systems,robots,radio frequency,estimation,acceleration | Conference | 0 |
PageRank | References | Authors |
0.34 | 9 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Klemens Springer | 1 | 0 | 0.34 |
| Hubert Gattringer | 2 | 12 | 9.89 |
| Stöger, C. | 3 | 0 | 0.34 |
| Christoph Stoeger | 4 | 0 | 0.34 |