The Effectiveness of Kinematic Constraints on The Accuracy of Trajectory Profile of Human Walking Using PSPB Technique

Many methods have been developed in trajectory planning in order to achieve smooth and accurate motion with considering the constraints of kinematics constraints such as angular position, velocity, acceleration, and jerk. The problem of using the combination of n-order polynomials is that there is n...

Full description

Saved in:
Bibliographic Details
Published inarXiv.org
Main Authors Mohammed, Marwan Qaid, Muhammad Fahmi Miskon, Sari Abdo Ali
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 21.05.2021
Subjects
Angular acceleration
Angular position
Angular velocity
Kinematics
Polynomials
Root-mean-square errors
Segments
Trajectory planning
Online AccessGet full text

Cover

More Information
Summary:Many methods have been developed in trajectory planning in order to achieve smooth and accurate motion with considering the constraints of kinematics constraints such as angular position, velocity, acceleration, and jerk. The problem of using the combination of n-order polynomials is that there is no ideally match between the segments of trajectory path at the via point in terms of the number of kinematic constraints. It leads to generate undesirable trajectory path at the via point that connects between two segments of the trajectory path. In this paper, we aim to investigate the effect of increasing to higher order polynomial blends on the accuracy of the via points with considering different kinematics constraints. Based on that, the methodology that was used in this paper is based on the polynomial segment with the higher polynomial blend (PSPB). Three techniques implemented which are 4-3-4 PSPB, 5-4-5 PSPB, and 6-5-6 PSPB. Each technique implemented based on applying different kinematic constraints. The three techniques validated using a modeling design in SemiMechanics. According to the methodology, the result analyzed and discussed in terms of angular position, angular velocity, angular acceleration, and angular jerk based on Root Mean Square Error (RMSE) and Average Difference Error (ADE). The result shows that RMSE of angular position for 4-3-4 PSPB-1, 4-3-4 PSPB-2, 5-4-5 PSPB-1, 5-4-5 PSPB-2, 6-5-6 PSPB-1, and 6-5-6 PSPB-2 are 0.4574, 0.0172, 10.9089, 0.1242, 0.6153, and 0.3128 degrees respectively. At the same time, the ADE are 0.0455, 0.0017, 1.0855, 0.0124, 0.0612, and 0.0311 degrees respectively. Thus, the error is increased obviously when there is no ideal match at the via point in terms of a number of kinematic constraints.
ISSN:2331-8422