A Novel Trajectory Generation Method for Robot Control
2012 | journal article. A publication with affiliation to the University of Göttingen.
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- Authors
- Ning, KeJun; Kulvicius, Tomas; Tamosiunaite, Minija; Woergoetter, Florentin
- Abstract
- This paper presents a novel trajectory generator based on Dynamic Movement Primitives (DMP). The key ideas from the original DMP formalism are extracted, reformulated and extended from a control theoretical viewpoint. This method can generate smooth trajectories, satisfy position- and velocity boundary conditions at start- and endpoint with high precision, and follow accurately geometrical paths as desired. Paths can be complex and processed as a whole, and smooth transitions can be generated automatically. Performance is analyzed for several cases and a comparison with a spline-based trajectory generation method is provided. Results are comparable and, thus, this novel trajectory generating technology appears to be a viable alternative to the existing solutions not only for service robotics but possibly also in industry.
- Issue Date
- 2012
- Status
- published
- Publisher
- Springer
- Journal
- Journal of Intelligent & Robotic Systems
- Project
- info:eu-repo/grantAgreement/EC/FP7/270273/EU//Xperience
- Organization
- Fakultät für Physik
- ISSN
- 1573-0409; 0921-0296
- Notes
- The research leading to these results has received funding from the European Community's Seventh Framework Programme FP7/2007-2013 - Challenge 2 - Cognitive Systems, Interaction, Robotics under grant agreement No 270273 - Xperience. It was also supported by the German BMBF BFNT 01GQ0810 project 3a of the University Gottingen.