Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations

• Published in: IEEE robotics and automation letters Vol. 6; no. 2; pp. 2233 - 2239
• Main Authors: Dahlin, Albin, Karayiannidis, Yiannis
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Constraints; Coupling; Couplings; Dynamical systems; Kernel; Motion control; Planning; reactive and sensor-based planning; Robot sensing systems; Robotics; Trajectories; Trajectory

The framework of Dynamical Movement Primitives (DMPs) has become a popular method for trajectory generation in robotics. Most robotic systems are subject to saturation and/or kinematic constraints on motion variables, but DMPs do not inherently encode constraints and this may lead to poor tracking p...