{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T06:10:56Z","timestamp":1697955056493},"reference-count":8,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7103,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>An automatic trajectory planning technique is presented to produce smooth joint displacement\u2010time functions. One can start with few approximately specified joint displacement values, or from a joint displacement\u2010time function which is not entirely satisfactory. The final joint displacement\u2010time function passes through the initial and final points, and lies in the vicinity of the intermediate approximate points; it also passes through some points which are in the joint dwell ranges. It is important that the final trajectory exhibit little deviation from the desired displacement values. One would also want to obtain a smooth joint acceleration function, and a rapidly declining envelope for the harmonic spectrum. This new method of trajectory planning is based upon the use of the mathematical operation of convolution. It was found that the use of convolution on a given joint displacement time function tended to decrease the peak acceleration amplitudes, while producing a smooth acceleration function. Convolution also reduced the frequency spectrum amplitudes associated with the joint functions, thus reducing the severity of vibrations which can be induced by the joint motion. While there are some drawbacks to this method, such as increased deviations at intermediate points after convolution, it will be shown that these may be reduced by using techniques described in this article.<\/jats:p>","DOI":"10.1002\/rob.4620040503","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:31:17Z","timestamp":1183699877000},"page":"605-619","source":"Crossref","is-referenced-by-count":1,"title":["Robot trajectory planning using the convolution operator"],"prefix":"10.1002","volume":"4","author":[{"given":"C. R.","family":"Mirman","sequence":"first","affiliation":[]},{"given":"K. C.","family":"Gupta","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300106"},{"issue":"12","key":"e_1_2_1_3_2","first-page":"1065","article-title":"Formulation and Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots","volume":"28","author":"Lin C. S.","year":"1983","journal-title":"IEEE Transactions on Automatic Control"},{"key":"e_1_2_1_4_2","unstructured":"TsayD. M.andHuey C. O. \u201cCAM Profile Synthesis Using Spline Functions to Approximately Satisfy Displacement Velocity and Acceleration Constraints.\u201d Paper presented at the ASME Mechanisms Conference Columbus Ohio Oct.1986 86\u2010DET\u2010109."},{"key":"e_1_2_1_5_2","unstructured":"Van Aken L.andVan Brussel H. \u201cOn\u2010Line Robot Trajectory Control in Joint Coordinates by Means of Imposed Acceleration Profiles.\u201d Presented at the 15th ISIR1985."},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-6333-3"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258530"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"Mirman C. R.Robot Trajectory Planning Using the Convolution Operator. Masters Thesis University of Illinois at Chicago Jan.1987.","DOI":"10.1002\/rob.4620040503"},{"key":"e_1_2_1_9_2","volume-title":"The Fast Fourier Transform","author":"Brigham E. Orin","year":"1974"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040503","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040503","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T09:03:38Z","timestamp":1697879018000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040503"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,10]]},"references-count":8,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1987,10]]}},"alternative-id":["10.1002\/rob.4620040503"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040503","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1987,10]]}}}