PVAJT Motion Planning of Cubic Spline Interpolator with the Arc-length Parameter

We formulated a cubic spline trajectory planner with arc-length parameter which is estimated by summing up to the 3rd order in Taylor´s expansion. The PVAJT motion planning is presented to reduce trajectory calculation time at every cycle time of servo control loop so that it is able to generate cubic spline trajectory in real time. These method can be used to more complex spline trajectory. We executed 3 case studies with different values of T_c and T_s, and showed the advantages of PVAJT motion planner. DSP-based motion controller is designed to implement The PVAJT motion planning.