Planning high order trajectories with general initial and final conditions and asymmetric bounds

Ben Ezair, Tamir Tassa, Zvi Shiller

Research output: Contribution to journalArticlepeer-review

39 Scopus citations

Abstract

This paper presents a trajectory planning algorithm for linear multi-axis systems. It generates smooth trajectories of any order subject to general initial and final conditions, and constant state and control constraints. The algorithm is recursive, as it constructs a high order trajectory using lower order trajectories. Multi-axis trajectories are computed by synchronizing independent single-axis trajectories to reach their respective targets at the same time.The algorithm's efficiency and ability to handle general initial and final conditions make it suitable for reactive real-time applications. Its ability to generate high order trajectories makes it suitable for applications requiring high trajectory smoothness. The algorithm is demonstrated in several examples for single- and dual-axis trajectories of orders 2-6.

Original languageEnglish
Pages (from-to)898-916
Number of pages19
JournalInternational Journal of Robotics Research
Volume33
Issue number6
DOIs
StatePublished - May 2014

Keywords

  • Trajectory planning
  • high order
  • motion control
  • multi-axes
  • smooth

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