Exponential trajectory generation for point to point motions

Rymansaib, Zuhayr; Iravani, Pejman; Şahinkaya, M. Necip

doi:10.1109/aim.2013.6584209

Cited by 37 publications

(11 citation statements)

References 9 publications

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“…One of the most popular motion profiles for a point-to-point approach is the S-curve or fourth-order symmetric polynomial [43]. For a large number of industrial applications, exponential trajectory planning [44] and trigonometric-function-based generators [45] are options to drive the servo system to track its desired path.…”

Section: Motion Profile Of a Servo Systemmentioning

confidence: 99%

Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

Nguyen

Nguyễn

Ngo

2021

Mathematical Problems in Engineering

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In the high-accuracy control of an AC machine, the knowledge of pure system parameters, with no deviation in drive coefficients and no disturbance or other nonlinear components, is a difficult issue for operators, even though it is occasionally nonviable. To overcome these troubles, this paper introduces a robust adaptation strategy based on pseudo fuzzy logic and sliding mode control (PFSMC) for an AC servo drive subject to uncertainties and/or external disturbance. Owing to the robustness of the SMC technique, the reduced sensitivity to uncertainties, and the enhanced resistance to disturbances from the pseudo fuzzy mechanism, this control algorithm can guarantee not only system stability but also the improvement of tracking errors in the steady state. To validate the design efficiency of PFSMC, both simulation and laboratory tests of the proposed scheme and a conventional PID scheme were performed to compare them as follows. In a computer environment, test cases with and without certainties were implemented with two controllers to visualize the comparative responses. Then, the two control methods were integrated into a real-world hardware platform to acquire practical outcomes. From these results, it can be noted that our successful approach showed a feasible, effective, and robust performance in AC drive.

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Section: Motion Profile Of a Servo Systemmentioning

confidence: 99%

Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

Nguyen

Nguyễn

Ngo

2021

Mathematical Problems in Engineering

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“…Rymansaib et al 11 propose the usage of exponential functions rather than polynomials for trajectory generation. This allows consideration of hardware constraints as well as generation of trajectories with continuous jerk.…”

Section: Related Workmentioning

confidence: 99%

An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Huber¹,

Wollherr²

2019

Robotica

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Summary With the increasing demand for humans and robots to collaborate in a joint workspace, it is essential that robots react and adapt instantaneously to unforeseen events to ensure safety. Constraining robot dynamics directly on SE(3), that is, the group of 3D translation and rotation, is essential to comply with the emerging Human–Robot Collaboration (HRC) safety standard ISO/TS 15066. We argue that limiting coordinate-independent magnitudes of physical dynamic quantities at the same time allows more intuitive constraint definitions. We present the first real-time capable online trajectory generator that constrains translational and rotational magnitude values of 3D translation and 3D rotation dynamics in a singularity-free formulation. Simulations as well as experiments on a hardware platform show the utility in HRC contexts.

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“…Perumal and Jawahar [21] proposed a synchronized trigonometric S-curve for jerk reduction. Moreover, sigmoid (piecewise exponential) is also used for smooth motion [22], [23].…”

Section: Introductionmentioning

confidence: 99%

Selection of smooth motion profile for a tube locator module of an inspection device

Perumalsamy

Visweswaran²,

Kumar³

et al. 2022

IJRA

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<span lang="EN-US">The Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robotic arm, which is used to place the eddy current probe above the steam generators tube hole in the tube sheet region. The trajectory planning of the two-link robotic arm is one of the important tasks, so the peak velocity, peak acceleration, peak jerk of various motion profiles for a given distance has to be selected properly for smooth motion and to avoid actuator saturation. The fifth-order polynomial gives lower acceleration and velocity than the jerk-limited S-curve. In this paper, the comparison of peak values of kinematic variables (velocity, acceleration, and jerk) for different motion profiles has been presented.</span>

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Exponential trajectory generation for point to point motions

Cited by 37 publications

References 9 publications

Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Selection of smooth motion profile for a tube locator module of an inspection device

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