Speaker Affiliation | University of Parma, Dip. di Ing. dell'Informazione |
Start | 24.06.2013, 15:00 Uhr |
Location | TU Braunschweig, Informatikzentrum, Mühlenpfordtstraße 23, Galeriegeschoss, Raum G04 |
Invited by | Prof. Dr.-Ing. F. M. Wahl |
The performances of feedback control systems change depending on the characteristics of the reference signals. For this reason, robot trajectories have always been designed by paying attention to their smoothness. Originally, trajectories were only synthesized offline, and the smoothness requirement was achieved by exclusively taking care of some continuity aspects (velocity and acceleration continuity). Planners have evolved along the years, so that, still in an offline context, the subsequent generations were also able to account for the existence of physical limits concerning the system kinematics/dynamics, while, in more recent approaches, trajectories are also planned by optimizing some given performance indexes. |
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