On Algorithms for Planning S-curve Motion Profiles
نویسندگان
چکیده
Although numerous researches on s-curve motion profiles have been carried out, up to date, no systematic investigation on the general model of polynomial s-curve motion profiles is considered. In this paper, the model of polynomial s-curve motion profiles is generalized in a recursive form. Based on that, a general algorithm to design s-curve trajectory with time-optimal consideration is proposed. In addition, a special strategy for planning s-curve motion profiles using a trigonometric model is also presented. The algorithms are implemented on a linear motor system. Experimental results show the effectiveness and promising application ability of the algorithms in s-curve motion profiling.
منابع مشابه
Planning Robot Motion in a 2-D Region with Unknown Obstacles
The purpose of this paper is to present several algorithms for planning the motion of a robot in a two-dimensional region having obstacles whose shapes and locations are unknown. The convergence and efficiency of the algorithms are discussed and upper bounds for the lengths of paths generated by the different algorithms are derived and compared.
متن کاملOptimal Trajectory Planning of a Box Transporter Mobile Robot
This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
متن کاملEvaluation of Effect of Different Computed Tomography Scanning Protocols on Hounsfield Unit and Its Impact on Dose Calculation by Treatment Planning System
Introduction: In radiotherapy treatment planning system (TPS), basic input is the data from computed tomography (CT) scan, which takes into account the effect of inhomogeneities in dose calculations. Measurement of CT numbers may be affected by scanner-specific parameters. Therefore, it is important to verify the effect of different CT scanning protocols on Hounsfield unit (HU) and its impact o...
متن کاملMotion Planning for Nonlinear Underactuated Vehicles using H∞ Techniques
This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle’s complete configuration along the trajectory. The algorithm introduces an iterative H∞filter to improve upon th...
متن کاملBézier Curve for Trajectory Guidance
In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...
متن کامل