Synopses & Reviews
This book presents the problems of trajectory planning and motion law generation for automatic machines and robots. These aspects are more and more relevant in the design of the motion control system in automatic machines and robots, especially in applications were high dynamics in the payloads are desired, or in case vibrations and/or nonlinear undesired effects are present in the mechanical system. In the book a detailed presentation of several techniques for trajectories definition is reported, both in the one-dimensional and in the multi-dimensional space. Then, an accurate analysis related to their practical implementation and use is presented. In particular, the trajectories are analysed in the time and frequency domain, and criteria for their choice are discussed. These consider the features of both the mechanical and of the actuation system (e.g. mechanical bandwidth, motor saturations, etc.).
The book is composed by four sections, which consider the following topics: definition of one-degree o freedom trajectories and of motion laws; computation of the geometric path; composition and time-scaling of trajectories; analysis of trajectories.
These contents make the book suitable for university classes on robotics and on control systems technologies. Moreover, the contents of the book are of interest for engineers and technicians, who design and/or develop applications for robots and automatic machines.
The Matlab toolbox, accompanying the text, is a useful tool for quickly understanding the problems of planning and starting work with trajectories.
Review
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)
Synopsis
This book deals with the problems related to planning motion laws and trajectories 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 effects such as vibrations or even damages on the mechanical 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 "electronic 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 efforts 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 different techniques available for trajectory planning, besides the mathematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under different points of view, and general considerations related to their practical use are reported.
Synopsis
Trajectory planning and motion law generation for automatic machines and robots are becoming ever more relevant in motion control system design. This book examines the problems, especially in applications where high dynamics in the payloads are desired.
Table of Contents
Part I Basic Motion Profiles.- Part II Elaboration and Analysis of Trajectories.- Part III Trajectories in the Operational Space.- Part IV Appendices.