TRAJECTORY GENERATION METHOD AND SYSTEM FOR REAL-TIME RESPONSE AT MOTION CONTROL

摘要

PURPOSE: A trajectory generation method and a system for a real-time response at a motion control is provided to reflect the change of position or velocity commands within restrained time on moving a robot system. CONSTITUTION: When an initial velocity is zero, the velocity is divided into accelerated, uniform, and decelerated sections. When the initial velocity is not zero, the velocity is divided into blending, uniform, and decelerated sections. The accelerated and decelerated sections use a third polynomial expression and the uniform section uses a constant to determine a velocity profile. In the blending section, a velocity profile allowing the initial velocity to be zero is blended with the velocity profile. According to the determined trajectory, the changed position and velocity are reflected within restrained time at the motion of a robot.