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Chapter 6: Trajectory Generation: Robotics

The document discusses trajectory generation methods for robotics including cubic polynomials, higher-order polynomials, and linear functions with parabolic blends. Cubic polynomials are used to plan trajectories between two points or with via points, satisfying constraints on position, velocity, and acceleration. Higher-order polynomials can also be used for trajectory generation but require solving complex equations. Linear trajectories with parabolic blends are another option, blending between linear segments to satisfy constraints at the start, end, and blend points of a trajectory. Examples are provided to illustrate each trajectory generation technique.

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24 views

Chapter 6: Trajectory Generation: Robotics

The document discusses trajectory generation methods for robotics including cubic polynomials, higher-order polynomials, and linear functions with parabolic blends. Cubic polynomials are used to plan trajectories between two points or with via points, satisfying constraints on position, velocity, and acceleration. Higher-order polynomials can also be used for trajectory generation but require solving complex equations. Linear trajectories with parabolic blends are another option, blending between linear segments to satisfy constraints at the start, end, and blend points of a trajectory. Examples are provided to illustrate each trajectory generation technique.

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bình nghuyễn
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Robotics

Chapter 6: Trajectory Generation

Instructor: Dr. Dang Xuan Ba


Email : [email protected]
Content

6.1 Cubic polynomials

6.2 High-order polynomials

6.3 Linear function with parabolic blends

Instructor: Dr. Dang Xuan Ba 2


6.1 Cubic polynomials

Instructor: Dr. Dang Xuan Ba 3


Cubic polynomials with point to point (đa thức bậc 3 từ điểm sang điểm)

Position:

Velocity and acceleration:

Constraints:

Instructor: Dr. Dang Xuan Ba 4


Cubic polynomials with point to point - Examples

Example:

Instructor: Dr. Dang Xuan Ba 5


Cubic polynomials for a path with via points (đa thức bậc 3 có điểm trung gian)

Cubic properties :

Instructor: Dr. Dang Xuan Ba 6


Cubic polynomials for a path with via points (đa thức bậc 3 có điểm trung gian)

Example 1:

Constraints

Instructor: Dr. Dang Xuan Ba 7


Cubic polynomials for a path with via points (đa thức bậc 3 có điểm trung gian)

Example 1:

Instructor: Dr. Dang Xuan Ba 8


Cubic polynomials for a path with via points (đa thức bậc 3 có điểm trung gian)

Example 2:

Using Matlab to verify the path planning with the_0 = 10, the_v = 45; the_g = 30, tf = 10s?

Instructor: Dr. Dang Xuan Ba 9


6.2 Higher-order polynomials

Instructor: Dr. Dang Xuan Ba 10


Higher-order polynomials (Xấp xỉ sử dụng đa thức bậc cao)

Position:

Constraints:

Instructor: Dr. Dang Xuan Ba 11


Higher-order polynomials - Examples

Examples: find a quintic polynomials with the following constraints:

t0 = 0

 0 = 0
 = 0
 0
 0 = 0

 = 40
 f
 f = 5

 f = 10

t f = 5

Instructor: Dr. Dang Xuan Ba 12


6.3 Linear function with parabolic blends

Instructor: Dr. Dang Xuan Ba 13


Basic idea

General case:

 =  + 0.5 t 2 t  t
 1 0 b

 2 = b + a ( t − tb ) tb  t  t f − tb


 3 =  f − 0.5  (t f − t ) 2

Instructor: Dr. Dang Xuan Ba 14


Example

Example 1: Design a proper path planning for the following condition:

 0 = 5

 f = 45

t f = 10
 = 4

Instructor: Dr. Dang Xuan Ba 15


End of Chapter 6.

Instructor: Dr. Dang Xuan Ba 16

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