A Novel Trajectory Generation Method for Robot Control
Citable Link (URL):http://resolver.sub.uni-goettingen.de/purl?gs-1/8380
This paper presents a novel trajectory generator based on Dynamic Movement Primitives (DMP). The key ideas from the original DMP formalism are extracted, reformulated and extended from a control theoretical viewpoint. This method can generate smooth trajectories, satisfy position- and velocity boundary conditions at start- and endpoint with high precision, and follow accurately geometrical paths as desired. Paths can be complex and processed as a whole, and smooth transitions can be generated automatically. Performance is analyzed for several cases and a comparison with a splinebased trajectory generation method is provided. Results are comparable and, thus, this novel trajectory generating technology appears to be a viable alternative to the existing solutions not only for service robotics but possibly also in industry.
Sponsored by EU
The research leading to these results has received funding from the European Community's Seventh Framework Programme FP7/2007-2013 - Challenge 2 - Cognitive Systems, Interaction, Robotics under grant agreement No 270273 - Xperience. It was also supported by the German BMBF BFNT 01GQ0810 project 3a of the University Gottingen.