Title

DISCRETE-TIME ROBOTIC COMMAND GENERATOR.

Document Type

Conference Proceeding

Date of Original Version

1-1-1988

Abstract

A discrete-time command generator that accepts position and orientation trajectories in Cartesian space and produces position, velocity, and acceleration trajectories in joint space is presented. Discrete-time command generators can be obtained from their continuous-time counterparts by using any standard numerical procedure to solve the nonlinear differential equation at a discrete set of points. However, existing numerical procedures require multiple function evaluations per input point to achieve an accurate solution. A novel technique is presented that achieves an accurate solution with only one function evaluation per input point. The application of the scheme to six degree-of-freedom manipulators is demonstrated through simulation results for a spherical-wrist robot.

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