机械人轨迹生成经典书籍Thisbookdealswiththeproblemsrelatedtoplanningmotionlawsandtrajectoriesfortheactuationsystemofautomaticmachines,inparticularforthosebasedonelectricdrives,androbots.Theproblemofplanningsuitabletrajectoriesisrelevantnotonlyfortheproperuseofthesemachines,inordertoavoidundesiredeffectssuchasvibrationsorevendamagesonthemechanicalstructure,butalsoinsomephasesoftheirdesignandinthechoiceandsizingoftheactuators.Thisisparticularlytruenowthattheconceptof“electroniccams”hasreplaced,inthedesignofautomaticmachines,theclassicalapproachbasedon“mechanicalcams”.Thechoiceofaparticulartrajectoryhasdirectandrelevantimplicationsonseveralaspectsofthedesignanduseofanautomaticmachine,likethedimensioningoftheactuatorsandofthereductiongears,thevibrationsandeffortsgeneratedonthemachineandontheload,thetrackingerrorsduringthemotionexecution.Forthesereasons,inordertounderstandandappreciatethepeculiaritiesofthedifferenttechniquesavailablefortrajectoryplanning,besidesthemathematicalaspectsoftheirimplementationalsoadetailedanalysisinthetimeandfrequencydomains,acomparisonoftheirmainpropertiesunderdifferentpointsofview,andgeneralconsiderationsrelatedtotheirpracticalusearereported.
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