FIR Filter-Based Online Jerk-Controlled Trajectory Generation

Abstract : This paper presents a novel approach to generate online jerk-limited trajectories for multi-DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low computational cost acceleration-limited profiles into jerk-limited profiles. Starting from a new setpoint, e.g. an event given by external sensors, and an arbitrary state of motion, i.e. with non-zero initial velocity and acceleration values, the proposed method can generate different shapes of jerk profile, including time-optimal and fixed-time jerk-limited trajectories. A new definition of the velocity, acceleration and jerk kinematic limits can be instantaneously taken into account during the motion. Moreover, the very low calculation time (less than 1 microsecond) makes it possible to easily control a multi-DOF system during one control cycle (classically about 1 millisecond), while preserving time for other computer processing. The algorithm is experimentally tested on the new 7-DOF industrial robot KUKA LWR iiwa.
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Pierre Besset, Richard Béarée, Olivier Gibaru. FIR Filter-Based Online Jerk-Controlled Trajectory Generation. Industrial Technology (ICIT), 2016 IEEE International Conference, 2016, Unknown, Unknown Region. ⟨10.1109/ICIT.2016.7474730⟩. ⟨hal-01490120⟩

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