Trajectory Planning for Automatic Machines and Robots

1. Front Matter

   Pages I-XIII

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2. Trajectory Planning

   1. Front Matter

      Pages 1-1

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   2. Trajectory Planning

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 1-12

3. Basic Motion Profiles

   1. Front Matter

      Pages 13-13

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   2. Analytic Expressions of Elementary Trajectories

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 15-57

   3. Composition of Elementary Trajectories

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 59-150

   4. Multipoint Trajectories

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 151-219

4. Elaboration and Analysis of Trajectories

   1. Front Matter

      Pages 221-221

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   2. Operations on Trajectories

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 223-244

   3. Trajectories and Actuators

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 245-264

   4. Dynamic Analysis of Trajectories

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 265-338

5. Trajectories in the Operational Space

   1. Front Matter

      Pages 339-339

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   2. Multidimensional Trajectories and Geometric Path Planning

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 341-414

   3. From Geometric Paths to Trajectories

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 415-453

6. Appendices

   1. Front Matter

      Pages 455-455

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   2. A Numerical Issues

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 457-466

   3. B B-spline, Nurbs and Bézier curves

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 467-487

   4. C Representation of the Orientation

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 489-493

   5. D Spectral Analysis and Fourier Transform

      • Luigi Biagiotti, Claudio Melchiorri

      Pages 495-501

7. Back Matter

   Pages 503-514

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This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.

• Automatic Machines
• Motion Control
• Robots
• Tracking
• Trajectory Planning
• actuator
• robot

From the reviews:

“This book is intended for engineers and technicians in the fields of automatic machines and robotics as well as for developers of applications for multiaxis machines and robot cells.” (IEEE Control Systems Magazine, Vol. 30, February, 2010)

• DII, University of Modena and Regio Emilia, Italy

  Luigi Biagiotti

• DEIS, University of Bologna, Italy

  Claudio Melchiorri

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