A dynamic optimal trajectory generator for Cartesian Path following

摘要: This paper considers a dynamic and adaptive trajectory generator for negotiating paths using S-curves. Applying constant jerk transitions between the acceleration deceleration periods of trajectory, will optimally transition to desired speed setting. Optimal is defined be minimum time from current set move segment when are limited. The S-curve equations adapt instantaneous changes in setting path length. An integrated motion planner determine allowable speeds transitional profiles based on remaining distance.