Arbitrary States Polynomial-like Trajectory (ASPOT) Generation and its applications
| Authors: | Ahn Ki Tak, POSTECH, Korea, Republic of
Chung Wan Kyun, POSTECH, Korea, Republic of
Youm Youngil, POSTECH, Korea, Republic of |
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| Topic: | 1.1 Modelling, Identification & Signal Processing |
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| Session: | Filtering and Estimation |
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| Keywords: | Trajectories, Discrete systems, Mobile, Manipulator, Linear motor |
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Abstract
A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final state constraints was suggested and named ZSPOT. There is a progress about it by allowing non-zero final constraints and named ASPOT. Without watching control issues behind these methods, they are shown only as a new trajectory generation method which is of discrete form so that easily applicable to most practical systems. ZSPOT is applied to a simulation of mobile-manipulator system and the effect of ASPOT is shown through experiment of a linear motor system.
