Generation of smooth trajectories without planning
John C. Fiala · 1991
A technique for generating smooth trajectories of a system is presented.The approach is to find a dynamical equation with the desired transient behavior and use it as the basis of the control algo- rithm.It is shown that an appropriate dynamical equation can be obtained by varying the position and velocity gains of a proportional-derivative control loop over the duration of the movement.This dynamical equation can be used to generate trajectories on-line with minimal planning.The resulting manipulator control system responds to path errors in a more reasonable fashion than tra- ditional approaches to trajectory control since explicit replanning is not required.