FIR filter based online jerk controlled trajectory generation
This paper presents a novel approach to generate online jerk limited trajectories for multi DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low computational cost acceleration limited profiles into jerk limited profiles. Starting from a new setpoint, e.g. an event given by external sensors, and an arbitrary state of motion, i.e. with non zero initial velocity and acceleration values, the proposed method can generate different shapes of jerk profile, including time optimal and fixed time jerk limited trajectories. A new definition of the velocity, acceleration and jerk kinematic limits can be instantaneously taken into account during the motion. Moreover, the very low calculation time (less than 1 microsecond) makes it possible to easily control a multi DOF system during one control cycle (classically about 1 millisecond) while preserving time for other computer processing. The algorithm is experimentally tested on the new 7 DOF industrial robot KUKA LWR iiwa.
2016 IEEE International Conference on Industrial Technology (ICIT)