Design of third-order uniform acceleration and deceleration trajectory based on Simulink StateFlow

1st International Conference on Frontiers of Materials Synthesis and Processing

材料科学;化学

Yang, Xudong^1 ; Wang, Song^1

College of Mechanical Engineering, Guizhou University, Guiyang, China^1

关键词: Acceleration and deceleration;    Acceleration/deceleration;    Logic control;    Robot trajectory;    Third order;    Trajectory control;    Trajectory designs;    Trajectory-based;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/274/1/012037/pdf
DOI  :  10.1088/1757-899X/274/1/012037

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In order to improve the movement accuracy of the robot, let the movement of the robot trajectory smoother, we design a third-order uniform acceleration/deceleration trajectory based on the Jerk value. Through the establishment of the mathematical model of the trajectory, combined with the logic control algorithm, constituted the core of the trajectory control. Finally, the StateFlow toolbox in Simulink as the carrier. Using the state module in StateFlow combined with the logic control conversion module, the third-order uniform acceleration and deceleration trajectory design is realized.