Exponential trajectory generation for point to point motions

Z. Rymansaib; P. Iravani; M. N. Sahinkaya

doi:10.1109/AIM.2013.6584209

Exponential trajectory generation for point to point motions

Z. Rymansaib, P. Iravani, M. N. Sahinkaya

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

38 Citations (SciVal)

Abstract

This paper presents a new method to generate point-to-point (PTP) trajectories, such as the ones used by robots or CNC machines, using an exponential function as the basis for the trajectory profile. The method is based on adding a series of time-delayed third-order exponential functions to generate an approximation to the trapezoidal velocity profile commonly used in time-optimal motions. The exponential velocity has zero-starting and ending values as well as continuous derivatives (acceleration and jerk).

Original language	English
Title of host publication	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	906-911
Number of pages	6
ISBN (Print)	9781467353199
DOIs	https://doi.org/10.1109/AIM.2013.6584209
Publication status	Published - 2013
Event	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - NSW, Wollongong, Australia Duration: 9 Jul 2013 → 12 Jul 2013

Conference

Conference	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Country/Territory	Australia
City	Wollongong
Period	9/07/13 → 12/07/13

Access to Document

10.1109/AIM.2013.6584209

Cite this

Exponential trajectory generation for point to point motions. / Rymansaib, Z.; Iravani, P.; Sahinkaya, M. N.
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Piscataway, NJ: IEEE, 2013. p. 906-911.

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

Rymansaib, Z, Iravani, P & Sahinkaya, MN 2013, Exponential trajectory generation for point to point motions. in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. IEEE, Piscataway, NJ, pp. 906-911, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 9/07/13. https://doi.org/10.1109/AIM.2013.6584209

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AB - This paper presents a new method to generate point-to-point (PTP) trajectories, such as the ones used by robots or CNC machines, using an exponential function as the basis for the trajectory profile. The method is based on adding a series of time-delayed third-order exponential functions to generate an approximation to the trapezoidal velocity profile commonly used in time-optimal motions. The exponential velocity has zero-starting and ending values as well as continuous derivatives (acceleration and jerk).

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BT - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

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Y2 - 9 July 2013 through 12 July 2013

ER -

Exponential trajectory generation for point to point motions

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