A third order continuous-time trajectory generator useful in motion control systems is presented. The proposed non linear system receives as input a standard reference signal r(t) (step, ramp, etc.) and provides as output a smooth signal x(t) satisfying the following constraints on velocity, acceleration and jerk: Vmin ≤ ẋ(t) ≤ Vmax, Ami ≤ ẍ(t) ≤ Amax and |x| ≤ U. The generated trajectory tracks the reference signal in minimum time compatible with the constraints on the time-derivatives. The performance of the presented trajectory generator is tested in simulation.
Third order trajectory generator satisfying velocity, acceleration and jerk constraints / Zanasi, R.; Morselli, R.. - 2:(2002), pp. 1165-1170. (Intervento presentato al convegno Proceedings of the 2002 IEEE International Conference on Control Applications tenutosi a Glasgow, gbr nel 2002).
Third order trajectory generator satisfying velocity, acceleration and jerk constraints
Zanasi R.;
2002
Abstract
A third order continuous-time trajectory generator useful in motion control systems is presented. The proposed non linear system receives as input a standard reference signal r(t) (step, ramp, etc.) and provides as output a smooth signal x(t) satisfying the following constraints on velocity, acceleration and jerk: Vmin ≤ ẋ(t) ≤ Vmax, Ami ≤ ẍ(t) ≤ Amax and |x| ≤ U. The generated trajectory tracks the reference signal in minimum time compatible with the constraints on the time-derivatives. The performance of the presented trajectory generator is tested in simulation.
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