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Publication
On the multifrequency calculation of robot trajectories
| Name: | Description: | Size: | Format: | |
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| 1.03 MB | Adobe PDF |
Advisor(s)
Abstract(s)
The computational burden of robot trajectory planning algorithms may be significant, namely when the inverse kinematics is required. Nevertheless, the variables involved (e.g. positions, velocities and accelaration) have distinct bandwidths. Therefore, they have different effects upon the final result and we can adopt a multifrequency strategy for the calculatinos, namely using different frequencies for the robot joint positinos, velocities and accelarations. In this line of thought, this paper compares a multirate trajectory planning scheme in the cartesian space in contrast with classical monofrequency calculation strategy.