Path planning

The development of a control system for a process that has to perform a task is the result of two design stages: synthesis of the control system itself, to obtain the desired servo and regulation performance, taking into account the sensitivity of the process input trajectory planning, to generate the setpoints for the control loops according to the constraints imposed by the task to be performed and the physical limitations of the process. This last part is itself broken down into two phases: trajectory generation, which geometrically defines the trajectory to be followed as a function of the task to be performed and the constraints imposed by the working environment motion generation, which determines, in the form of setpoints, the way in which the trajectory is to be followed as a function of the desired performance and the physical constraints of the actuators.

Objective: The objective is to provide students with the concepts and tools needed to generate the trajectory to be followed and the optimum setpoints to be applied to the controlled system.

* Problem
- 1.1 - Introduction
- 1.2 - Overview of existing approaches : State of the art
* Generation of motion between two points: Temporal study
- 2.1 - Polynomial interpolation
- 2.2 - Bang-Bang laws
- 2.3 - Joint coordination
* Generation of motion with intermediate points: Temporal study
- 3.1 - Linear interpolation and parabolic transition
- 3.2 - Use of third-degree polynomials
- 3.3 - Calculation of time on each segment
* Generation of motion between two points: Frequency study
- 4.1 - Frequency interpretation of a motion generation between two points: characteristic filter
- 4.2 - Frequency interpretation of polynomial interpolations
- 4.3 - Frequency interpretation of Bang-Bang laws
* Motion generation with intermediate points: Frequency study
- Polynomial interpolation
- Bang-Bang laws
* Structured approach to actuator selection

Automatic

Course documents.
Recommended books: See Bibliography section of course documents.