Nonlinear trajectory generator for evolution control systems

The paper presents a trajectory generator for point-to-point movements in the field of motion control systems such as are used in robotics. A nonlinear dynamic trajectory generator is proposed. It is a closed loop system which provides the best trajectory compatible with the user selectable constraints on motion state variables (velocity, acceleration, etc.). Constraints on state variables can be fixed or task dependent. They can be changed during system operation without impairing filter stability or introducing overshoot in the trajectory