A novel second order filter for the real-time trajectory scaling
Online trajectory scaling approaches represent a possible way for handling robotic systems characterized by kinematic or dynamic saturations. Scaling methods are based on the path/velocity decomposition principle: a dynamic filter is used to modify the longitudinal velocity along a planned path in order to satisfy given system constraints. The strategy here proposed enhances the results of a previous work by enlarging the number of considered constraints. In particular, still accounting for the existence of bounds on joint velocities and torques, in this paper, the presence of constraints on joint accelerations is also considered. Furthermore, the nonlinear filter, which represents the core of the scaling system, has been revised in order to devise a new and more compact implementation. Finally, some practical issues that could occur in actual implementations are discussed and solutions are proposed to overcome possible problems.
Corrado Guarino Lo Bianco Friedrich M. Wahl
Dip. di Ing.dellInformazione,University of Parma Institut fuer Robotik und Prozessinformatik,Technische Universitaet Carolo-Wilhelmina zu Braunschwei
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5813-5818
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）