Complete framework of jerk-level inverse-free solutions to inverse kinematics of redundant robot manipulators

Zhang, Yunong; He, Liangyu; Luo, Jiawei; Tan, Hongzhou

doi:10.1109/chicc.2016.7554084

Cited by 4 publications

(2 citation statements)

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“…According to (4), it is possible to compute the velocity profile of each segment from the integral of the acceleration. The seven-segments velocity profile is modeled by (7).…”

Section: General Model Of the Seven-segment Velocity Profilementioning

confidence: 99%

“…Since, if the velocity changes abruptly, the behavior of acceleration could cause discontinuities in the trajectory [5]. The rate of change in acceleration is denominated as jerk [6], whether acceleration changes too fast, the vibrations increase their frequency causing damage to the structure of the mechanical system [7]. Therefore, when something like this happens, it is possible to deduce that the jerk value is too big, which means that the energy consumption is high.…”

Section: Introductionmentioning

confidence: 99%

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A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

2019

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The velocity profiles are used in the design of trajectories in motion control systems. It is necessary to design smoother movements to avoid high stress in the motor. In this paper, the rate of change in acceleration value is used to develop an S-curve velocity profile which presents an acceleration and deceleration stage smoother than the trapezoidal velocity profile reducing the error at the end of the duty-cycle pre-established in one degree of freedom (DoF) application. Furthermore, a new methodology is developed to generate a seven-segment profile that works with negative velocity and displacement constraints applying an open source architecture in a hybrid electronic platform compounded by a system on a chip (SoC) Raspberry Pi 3 and a field programmable gate array (FPGA). The performance of the motion controller is measured through the comparison of the error obtained in real-time application with a trapezoidal velocity profile. As a result, a low-cost platform and an open architecture system are achieved.

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“…According to (4), it is possible to compute the velocity profile of each segment from the integral of the acceleration. The seven-segments velocity profile is modeled by (7).…”

Section: General Model Of the Seven-segment Velocity Profilementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%