Nonlinear trajectory generator for evolution control systems

Author

Lo Bianco, Corrado Guarino ; Tonielli, Alberto ; Zanasi, Roberto

Author_Institution

Dept. of Electron. Comput. & Syst. Sci., Bologna Univ., Italy

Volume

1

fYear

1996

fDate

5-10 Aug 1996

Firstpage

195

Abstract

The paper presents a trajectory generator for point-to-point movements in the field of motion control systems such as are used in robotics. A nonlinear dynamic trajectory generator is proposed. It is a closed loop system which provides the best trajectory compatible with the user selectable constraints on motion state variables (velocity, acceleration, etc.). Constraints on state variables can be fixed or task dependent. They can be changed during system operation without impairing filter stability or introducing overshoot in the trajectory

Keywords

closed loop systems; motion control; nonlinear control systems; path planning; position control; robots; variable structure systems; closed loop system; motion control systems; motion state variables; nonlinear trajectory generator; point-to-point movements; robots; user selectable constraints; variable structure systems; Acceleration; Closed loop systems; Control systems; Filters; Motion control; Nonlinear dynamical systems; Robots; Signal generators; Stability; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2775-6

Type

conf

DOI

10.1109/IECON.1996.570952

Filename

570952