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

Author

Shin, Dongwon ; Choi, Sung-Hyuk

Author_Institution

Sch. of Mech. Eng., Kumoh Nation Inst., Gyeongbuk

fYear

2008

fDate

9-11 April 2008

Firstpage

115

Lastpage

119

Abstract

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.

Keywords

control system synthesis; interpolation; motion control; path planning; position control; servomechanisms; splines (mathematics); DSP-based motion controller; PVAJT motion planning; Taylor expansion; arc-length parameter; cubic spline interpolator; servo control loop; trajectory planner; Acceleration; Equations; Fluctuations; Interpolation; Motion control; Parameter estimation; Servosystems; Spline; Taylor series; Trajectory; Arc length; Cubic spline; Cycle time; PVAJT motion; Sampling time; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Smart Manufacturing Application, 2008. ICSMA 2008. International Conference on

Conference_Location

Gyeonggi-do

Print_ISBN

978-89-950038-8-6

Electronic_ISBN

978-89-962150-0-4

Type

conf

DOI

10.1109/ICSMA.2008.4505624

Filename

4505624