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Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints

Citace:
BLÁHA, L. Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints. In IFAC Proceedings Volumes (IFAC-PapersOnline). ZA: International Federation of Automatic Control, 2014. s. 3845-3850. ISBN: 978-3-902823-62-5 , ISSN: 1474-6670
Druh: STAŤ VE SBORNÍKU
Jazyk publikace: eng
Anglický název: Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints
Rok vydání: 2014
Místo konání: ZA
Název zdroje: International Federation of Automatic Control
Autoři: Ing. Lukáš Bláha ,
Abstrakt CZ: Článek se zabývá plánováním pohybu, především pak časovou synchronizací pohybu více os.
Abstrakt EN: This paper deals with multi-axis motion planning, especially with time synchronization of mutually independent axes of motions (uncoordinated motion). A novel time-optimal generator called GBAVS is used as a basic tool, utilizing the chain of integrators. The structure of generator uses 3 integrators for generating motion variables. The task is to plan the single-axis motions while respecting hard motion constraints and to achieve the final states in the same time. In contrast to other approaches the initial/final state does not necessary mean the state with zero velocity and acceleration, so called rest-to-rest motion. To reach synchronization, time scaling is based on decreasing the individual values of Jerk for each axis except the slowest one. Jerk is a parameter to be reduced as first. No initial/final state limitation and reduction of the value of Jerk primal to other motion limitations (e.g. velocity limits) are the main advantages of this approach.
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