Neuron Net for Forming Optimal Smooth Trajectories Based on Bezier Splines

Abstract

In this paper, the problem of planning smooth trajectories of mechatronic objects on the basis of Bezier splines of the third order with a minimal curvature is solved. Using such trajectories provides the maximal speed of movement for mechatronic objects. The neuron net, which approximates the function of the optimal selection of spline parameters is proposed to solve this problem. The advantage of the proposed approach is its lack of computational complexity, which allows its use in most on-board computers in real time.

Features of development and using interuniversity scientific and educational network «SYNERGY» for training of engineers in the field of automation, robotics and mechatronic systems

“…Motion of Robotino robot in an environment with obstaclesBefore performing the work, students study the theory and publications prepared by the team of the Department of Automation and Control of the FEFU in the process of real scientific projects in Russian and English[8][9][10]. The fulfilment of technological operations with the use of vision systems in the presence of unknown deformations in the process of fixing the workpiece before machining.…”