Adaptive S-curve, Joint trajectory generator, Motion recovery
This paper describes an adaptive S-curve used to recover a tool path upon a system crash in the Windows operating system (OS). For a mechanism such as a robot or machine tool, the joint values, being delivered as setpoints to the servo-controller, are dynamically recorded by the real-time operating system also residing on the computer. The real-time OS can control the abort and record pertinent motion data after Windows OS crash.
Original Publication Citation
Robotica 21.2(Mar 23): 185-191.
BYU ScholarsArchive Citation
Red, Edward and Li, Wei, "A joint trajectory generator for motion recovery" (2003). All Faculty Publications. 509.
Cambridge University Press
Ira A. Fulton College of Engineering and Technology
© 2003 Cambridge University Press
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