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SYSTEM AND METHOD FOR JERK LIMITED TRAJECTORY PLANNING FOR A PATH PLANNER
SYSTEM AND METHOD FOR JERK LIMITED TRAJECTORY PLANNING FOR A PATH PLANNER
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机译:路径规划器的Jerk有限轨迹规划系统和方法
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摘要
A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase comprises calculating a jerk value required to successfully reach end conditions during a move in progress. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control to reach a target position. The system further includes a device being controlled for a move and at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.
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