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Online Minimum-Jerk Trajectory Generation

In English

Författare

Summary, in English

Robotic trajectory generation is reformulated as a controller design problem. For minimum-jerk trajectories, an optimal controller using the Hamilton-Jacobi-Bellman equation is derived. The controller instantaneously updates the trajectory in a closed-loop system as a result of the changes in the reference signal. The resulting trajectories coincide with piece-wise fifth-order polynomial trajectories for piece-wise constant target states. Since having hard constraints on the final time poses certain robustness issues, a smooth transition between the finite-horizon and an infinite-horizon problem is developed. This enables to switch softly to a tracking mode when a moving target is reached.

Publiceringsår

2015

Språk

Engelska

Publikation/Tidskrift/Serie

Proc. IMA Conf. Mathematics of Robotics

Dokumenttyp

Konferensbidrag

Ämne

  • Robotics
  • Control Engineering

Conference name

2015 IMA Conference on Mathematics of Robotics

Conference date

2015-09-09 - 2015-09-11

Conference place

Oxford, United Kingdom

Status

Published

Projekt

  • LCCC
  • LU Robotics Laboratory

Forskningsgrupp

  • LCCC