9 Computers and Automation Engineering – “Robotic Systems”
Robotic Systems
Trajectory generation
,Trajectory Generator
• Continuity
Path Constraints • Smoothness
Path Trajectory
Joint space
Specification Generator
𝑞 𝑡 , 𝑞 𝑡 , 𝑞(𝑡)
Generation occurs at run time.
Robotic 20-21 / Dr. Aghiad Kh. (email: )
, Trajectory Generator
𝑃𝑐
position, velocity, Target 𝑉𝑐
and acceleration State 𝐴𝑐
are computed. Software De
Traj
Kinematic
𝑉𝑚𝑎𝑥 Trajectory
𝐴𝑚𝑎𝑥
Constraints:
Constraints
𝐽𝑚𝑎𝑥
Generation
Spatial, time,
𝑃𝑖
Algorithm
smoothness Initial State
𝑉𝑖
at time instant t
𝐴𝑖
𝑷 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑽 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑨 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜
Robotic 20-21 / Dr. Aghiad Kh. (email: )
Robotic Systems
Trajectory generation
,Trajectory Generator
• Continuity
Path Constraints • Smoothness
Path Trajectory
Joint space
Specification Generator
𝑞 𝑡 , 𝑞 𝑡 , 𝑞(𝑡)
Generation occurs at run time.
Robotic 20-21 / Dr. Aghiad Kh. (email: )
, Trajectory Generator
𝑃𝑐
position, velocity, Target 𝑉𝑐
and acceleration State 𝐴𝑐
are computed. Software De
Traj
Kinematic
𝑉𝑚𝑎𝑥 Trajectory
𝐴𝑚𝑎𝑥
Constraints:
Constraints
𝐽𝑚𝑎𝑥
Generation
Spatial, time,
𝑃𝑖
Algorithm
smoothness Initial State
𝑉𝑖
at time instant t
𝐴𝑖
𝑷 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑽 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑨 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜
Robotic 20-21 / Dr. Aghiad Kh. (email: )
