ICRA'09 Paper Abstract


Paper FrD4.1

Bowling, David (MicroDexterity Systems), Starr, Greg (University of New Mexico)

FIR Position Profiles Using an Infinitely Continuous Kernel

Scheduled for presentation during the Regular Sessions "Motion and Path Planning - IV" (FrD4), Friday, May 15, 2009, 15:30−15:50, Room: 402

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Motion and Path Planning, Motion Control, Industrial Robots


Large and fragile systems may require motion trajectories with the highest attainable degree of smoothness. This paper introduces a method to create infinitely continuous motion profiles based on convolving an infinitely continuous FIR kernel with an underlying rate-limited position profile. Conventional motion profiling is limited to blending polynomial between linear segments. Due to the issues of controlling unwanted inflections and the computing of the polynomial coefficient, blending polynomials are usually limited to third order with special cases up to seventh order. Beyond third order, closed form equations do not exists for the coefficients, requiring a set of equations to be solved for each blend. With third order polynomials the highest derivative that can be controlled is jerk. While maximum jerk can be controlled, change in jerk is instantaneous. This inherent instantaneous change in jerk can send shock waves though a system with the possibility of causing damage. The infinitely continuous profiles introduced in this paper overcomes all the shortcomings of polynomial blending. With FIR smoothing of an underlying rate-limited position profile, only a single kernel is needed to be computed off-line before motion starts. The entire process of motion generation consists of rate-limiting desired position updates and then filtering them with an infinitely continuous FIR kernel. The output is an infinitely continuous profile that allows real-time updates of velo



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