About: Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints

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Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http:// http://www.ifac-papersonline.net/Detailed/66443.html
Description	This paper deals with multi-axis motion planning, especially with time synchronization of mutually independent axes of motions (uncoordinated motion). A novel time-optimal generator called GBAVS is used as a basic tool, utilizing the chain of integrators. The structure of generator uses 3 integrators for generating motion variables. The task is to plan the single-axis motions while respecting hard motion constraints and to achieve the final states in the same time. In contrast to other approaches the initial/final state does not necessary mean the state with zero velocity and acceleration, so called rest-to-rest motion. To reach synchronization, time scaling is based on decreasing the individual values of Jerk for each axis except the slowest one. Jerk is a parameter to be reduced as first. No initial/final state limitation and reduction of the value of Jerk primal to other motion limitations (e.g. velocity limits) are the main advantages of this approach. This paper deals with multi-axis motion planning, especially with time synchronization of mutually independent axes of motions (uncoordinated motion). A novel time-optimal generator called GBAVS is used as a basic tool, utilizing the chain of integrators. The structure of generator uses 3 integrators for generating motion variables. The task is to plan the single-axis motions while respecting hard motion constraints and to achieve the final states in the same time. In contrast to other approaches the initial/final state does not necessary mean the state with zero velocity and acceleration, so called rest-to-rest motion. To reach synchronization, time scaling is based on decreasing the individual values of Jerk for each axis except the slowest one. Jerk is a parameter to be reduced as first. No initial/final state limitation and reduction of the value of Jerk primal to other motion limitations (e.g. velocity limits) are the main advantages of this approach. (en)
Title	Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints (en)
skos:prefLabel	Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints Multi-Axis Time Synchronization for Uncoordinated Motion Planning with Hard Constraints (en)
skos:notation	RIV/49777513:23520/14:43923970!RIV15-TA0-23520___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(ED1.1.00/02.0090), P(TA02020414), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Bláha, Lukáš
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Západočeská univerzita v Plzni / Fakulta aplikovaných věd
http://linked.open...dnocenehoVysledku	30934
http://linked.open...ai/riv/idVysledku	RIV/49777513:23520/14:43923970
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Multi-Axis, Time synchronization, Motion planning, Hard constraints, Time optimal control (en)
http://linked.open.../riv/klicoveSlovo	Hard constraints Multi-Axis Time optimal control Time synchronization Motion planning
http://linked.open...ontrolniKodProRIV	[68FC1A19955D]
http://linked.open...v/mistoKonaniAkce	Cape Town, South Africa
http://linked.open...i/riv/mistoVydani	ZA
http://linked.open...i/riv/nazevZdroje	IFAC Proceedings Volumes (IFAC-PapersOnline)
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...vavai/riv/projekt	New robotic remotely controlled technology for diagnostics and repair of submerged devices NTIS - New Technologies for Information Society
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Bláha, Lukáš
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-08-24 (xsd:date)
issn	1474-6670
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.3182/20140824-6-ZA-1003.00988
http://purl.org/ne...btex#hasPublisher	International Federation of Automatic Control
https://schema.org/isbn	978-3-902823-62-5
http://localhost/t...ganizacniJednotka	23520

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