Exponential trajectory generation for point to point motions

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

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 languageEnglish
Title of host publication2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages906-911
Number of pages6
ISBN (Print)9781467353199
DOIs
Publication statusPublished - 2013
Event2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - NSW, Wollongong, Australia
Duration: 9 Jul 201312 Jul 2013

Conference

Conference2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
CountryAustralia
CityWollongong
Period9/07/1312/07/13

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  • Cite this

    Rymansaib, Z., Iravani, P., & Sahinkaya, M. N. (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 (pp. 906-911). IEEE. https://doi.org/10.1109/AIM.2013.6584209