| abstract |
The present invention relates to a method and a device for real-time-capable fourth-order path planning for generating continuous, time-dependent target trajectories free of jerk jumps. The invention further relates to an actuator control apparatus for moving an actuator along a specified path. According to the invention, the dimension of a time-independent, three-dimensional target trajectory describing a given path is reduced to a one-dimensional function of the path location. Kinematic restrictions up to the fourth order are projected onto the one-dimensional function of the path location in order to determine the kinematic parameter jerk slope as a one-dimensional function of time relative to the path, from which function the time-dependent, three-dimensional target trajectory is determined for the kinematic parameter path length. |