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 language | English |
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Pages (from-to) | 898-916 |
Number of pages | 19 |
Journal | International Journal of Robotics Research |
Volume | 33 |
Issue number | 6 |
DOIs | |
State | Published - May 2014 |
Keywords
- Trajectory planning
- high order
- motion control
- multi-axes
- smooth