FIR position profiles using an infinitely continuous kernel

Abstract

Large and fragile systems may require motion trajectories with the highest attainable degree of smoothness. This paper introduces a method to create infinitely continuous motion profiles based on convolving an infinitely continuous FIR kernel with an underlying rate-limited position profile. Conventional motion profiling is limited to blending polynomial… (More)
DOI: 10.1109/ROBOT.2009.5152296

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Cite this paper

@article{Bowling2009FIRPP, title={FIR position profiles using an infinitely continuous kernel}, author={David Bowling and Gregory P. Starr}, journal={2009 IEEE International Conference on Robotics and Automation}, year={2009}, pages={2836-2843} }