Thomas Kordik, Christian Zauner, Hubert Gattringer, Andreas Müller,
"Constrained Online Motion Generation from Unfiltered User Commands"
, in D. Pisla, G. Carbone, D. Condurache, C. Vaida: Advances in Service and Industrial Robotics - RAAD 2024, Serie Mechanism and Machine Science, Vol. 157, Springer Nature, Switzerland, Seite(n) 421-429, 5-2024, ISBN: 978-3-031-59257-7
Original Titel:
Constrained Online Motion Generation from Unfiltered User Commands
Sprache des Titels:
Englisch
Original Buchtitel:
Advances in Service and Industrial Robotics - RAAD 2024
Original Kurzfassung:
In manually operated robotic applications, where operators
use a joystick as input device, it is more intuitive to command the velocity rather than the position. Existing algorithms, however, that admit following an arbitrary desired velocity in order to generate smooth trajectories, do not take into account the dynamic limits of velocity and
position. In this paper a method is introduced for the smooth online
path-parameter generation from unfiltered operator input that respects
bounds on position, velocity, acceleration, and jerk. It builds upon a
time discrete second-order smoothing filter. C3 continuous trajectories
are computed that achieve a motion between defined start and terminal
positions in minimal time. A geometric path description based on
B-spline interpolation connecting multiple points in task space is presented.
The velocity signal deduced from this description is used as a
time scaling parameter. Specific parametrization of the B-spline curve
allows for generating motions where the tangential velocity is nearly
proportional to the joystick modulation.
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