The formation of motion laws for mechatronics objects along the paths with the desired speed

摘要

This report presents the results of the development of method of forming of motion laws for mechatronics objects (MO) along trajectories with the desired speed. Desired trajectories are described by third order parametric splines. Analytical expressions describing the dependence of the rate of change of the parameter from the laws of change of given speed and information about the parametric form of a trajectories are obtained. They allow to move the program point along the trajectory accurately at a given speed. The described approach does not require iterative calculations and allows to perform all necessary calculations in real-time even on low-power onboard robots' computers.