Beruflich Dokumente
Kultur Dokumente
planning
Václav Hlaváč
Czech Technical University in Prague
Faculty of Electrical Engineering
Department of Cybernetics
Czech Republic
http://cmp.felk.cvut.cz/~hlavac
Courtesy to several authors of presentations on the web.
Lecture outline
2
Joint-space description:
• The description of the motion to be made by the robot by
its joint values.
• The motion between the two points is unpredictable.
Operational space description:
• In many cases operational space = Cartesian space.
• The motion between the two points is known at all times
and controllable.
• It is easy to visualize the trajectory, but it is difficult to
ensure that singularity does not occur.
Example
Joint vs. operational space 8
(continuity,
smoothness)
Path
constraints
joint space
{q (t ), q (t ), q(t )}
Path Trajectory sequence of control set points
or
specification Planner along desired trajectory
Acceleration Profile
t0 t1 t2 tf Time
Speed
t0 t1 t2 tf Time
Acceleration
t0 t1 t2 tf Time
Function used for interpolation
14
For instance:
Polynomials of different orders.
Linear functions with parabolic blends.
Splines.
Trajectory generation, basics
15