Abstract
A practical and useful trajectory planning that considers the physical limits of mobile
robots using the convolution operator in joint space are presented. Smooth joint velocity
commands that consider the maximum velocity of a mobile robot and systems limit along the
path are computed. The effectiveness of the algorithm is shown through various Bezier curves
in a robot simulator. Three curved path were conducted to determine whether the mobile
robot will be able to meet the physical limits. Each experiment had a different start point and
end point. Results show that the mobile robot was able to meet the velocity limit and follow
the predetermined path while satisfying physical constraints in the joint space.
robots using the convolution operator in joint space are presented. Smooth joint velocity
commands that consider the maximum velocity of a mobile robot and systems limit along the
path are computed. The effectiveness of the algorithm is shown through various Bezier curves
in a robot simulator. Three curved path were conducted to determine whether the mobile
robot will be able to meet the physical limits. Each experiment had a different start point and
end point. Results show that the mobile robot was able to meet the velocity limit and follow
the predetermined path while satisfying physical constraints in the joint space.
| Original language | English |
|---|---|
| Journal | Journal of Digital Content Technology and its Applications |
| Volume | 7 |
| Issue number | 11 |
| State | Published - Jul 2013 |