Online Trajectory Generation: Basic Concepts for Instantaneous Reactions to Unforeseen Events

This paper introduces a new method for motion-trajectory generation of mechanical systems with multiple degrees of freedom (DOFs). The key feature of this new concept is that motion trajectories are generated online, i.e., within every control cycle, typically every millisecond. This enables systems...

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Bibliographic Details
Published in:IEEE transactions on robotics 2010-02, Vol.26 (1), p.94-111
Main Authors: Kroger, T., Wahl, F.M.
Format: Article
Language:English
Subjects:
Algorithms
Applied sciences
Computer science
control theory
systems
Control systems
Control theory. Systems
Exact sciences and technology
Force control
Force sensors
Hybrid switched systems
Mathematical analysis
Mechanical sensors
Mechanical systems
Motion control
multisensor integration
On-line systems
Online
Robot control
Robot sensing systems
robot-motion control
Robotics
Robots
Sensor systems
Sensors
Synchronism
Synchronization
Torque control
Trajectories
trajectory generation
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Summary:This paper introduces a new method for motion-trajectory generation of mechanical systems with multiple degrees of freedom (DOFs). The key feature of this new concept is that motion trajectories are generated online, i.e., within every control cycle, typically every millisecond. This enables systems to react instantaneously to unforeseen and unpredictable (sensor) events at any time instant and in any state of motion. As a consequence, (multi)sensor integration in robotics, in particular the development of control systems enabling sensor-guided and sensor-guarded motions, becomes greatly simplified. We introduce a class of online trajectory-generation algorithms and present the mathematical basics of this new approach. The algorithms presented here consist of three steps: calculation of the minimum synchronization time for all DOFs, synchronization of all DOFs, and calculation of output values. The theory is followed by real-world experimental results indicating new possibilities in robot-motion control.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2009.2035744