Accurate Position and Velocity Control for Trajectories Based on Dynamic Movement Primitives

摘要：

This paper presents a novel method for trajectory generation based on dynamic movement primitives (DMPs) treated from a control theoretical perspective. We extended the key ideas from the original DMP formalism by introducing a velocity convergence mechanism in the reformulated system. Theoretical proof is given to guarantee its validity. The new method can deal with complex paths as a whole. Based on this, we can generate smooth trajectories with automatically generated transition zones, satisfy position- and velocity boundary conditions at start and endpoint with high precision, and support multiple via-point applications. Theoretic proof of this method and experiments are presented.

作者: KeJun Ning Tomas Kulvicius Minija Tamosiunaite Florentin W(o)rg(o)tter

作者单位: Corporate Technology,Siemens Ltd.,China,100102,Beijing,China Computational Neuroscience,Inst. of Physics III,University of G(o)ttingen,37077 G(o)ttingen,Germany Department of Informatics,Vytautas Magnus University,Vileikos 8,LT-44404 Kaunas,Lithuania

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5006-5011

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）