A novel trajectory generation method for robot control

Abstract

This paper presents a novel trajectory generator based on Dynamic Movement Prim-itives (DMP). The key ideas from the original DMP formalism are extracted, reformulated and extended from a control theoretical viewpoint. This method can generate smooth trajectories, satisfy position- and velocity boundary condi-tions at start- and endpoint with high precision, and follow accurately geometrical paths as de-sired. Paths can be complex and processed as a whole, and smooth transitions can be gener-ated automatically. Performance is analyzed for several cases and a comparison with a spline-based trajectory generation method is provided. Results are comparable and, thus, this novel tra-jectory generating technology appears to be a viable alternative to the existing solutions not Parts of this work have been published in preliminary form at ICRA 2011 [38]. K. Ning (B)·T. Kulvicius· M. Tamosiunaite·F. Wörgötter Bernstein Center for Computational Neuroscience, Inst. of Physics III, University of Göttingen, 37077 Göttingen, Germany e-mail: nkj@sjtu.org K. Ning Research & Technology, Lenovo, 100085 Beijing, China only for service robotics but possibly also in industry