A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal is optimal in the sense that at each time instant the limit value of one among velocity, acceleration and torque is reached. The filter, based on a variable structure controller, is designed in the continuous-time domain but can be implemented by discretization as a sampled system. It can therefore used in mechatronic and robotic applications driven by digital controllers in order to filter trajectories planned without considering the above mentioned constraints or to generate realtime smooth trajectories by simply providing basic inputs such as step or ramp functions.

Online trajectory planner with constraints on velocity, acceleration and torque / Biagiotti, Luigi; Zanasi, Roberto. - ELETTRONICO. - (2010), pp. 274-279. ((Intervento presentato al convegno Industrial Electronics (ISIE), 2010 IEEE International Symposium on tenutosi a Bari, Italia nel 4-7 Luglio 2010.

Online trajectory planner with constraints on velocity, acceleration and torque

BIAGIOTTI, Luigi;ZANASI, Roberto
2010

Abstract

A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal is optimal in the sense that at each time instant the limit value of one among velocity, acceleration and torque is reached. The filter, based on a variable structure controller, is designed in the continuous-time domain but can be implemented by discretization as a sampled system. It can therefore used in mechatronic and robotic applications driven by digital controllers in order to filter trajectories planned without considering the above mentioned constraints or to generate realtime smooth trajectories by simply providing basic inputs such as step or ramp functions.
Industrial Electronics (ISIE), 2010 IEEE International Symposium on
Bari, Italia
4-7 Luglio 2010
274
279
Biagiotti, Luigi; Zanasi, Roberto
Online trajectory planner with constraints on velocity, acceleration and torque / Biagiotti, Luigi; Zanasi, Roberto. - ELETTRONICO. - (2010), pp. 274-279. ((Intervento presentato al convegno Industrial Electronics (ISIE), 2010 IEEE International Symposium on tenutosi a Bari, Italia nel 4-7 Luglio 2010.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/648456
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