Asymmetric S-curve Trajectory Planning for Robot Point-to-point Motion

摘要：

In this paper, we develop an asymmetric s-curve profile method with jerk bounded to obtain high-precision motion and reduce the residual vibration. All possible instances for asymmetric s-curve profile planning are analyzed. The algorithm and its implementation are proposed with a direct and complete method. Simulation results are presented to verify the effectiveness and reliability of the proposed approach.

关键词： point-to-point motion asymmetric s-curve trajectory planning Introduction

作者: Fengshan Zou Daokui Qu Fang Xu

作者单位: Shenyang Institute of Automation,Chinese Academy of Science Shenyang 110016 Graduate School of Chine Shenyang Institute of Automation,Chinese Academy of Science Shenyang 110016 SIASUN Robot and Automat

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2172-2176

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）