Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles

This paper suggests a trajectory generation method using convolution operation. The proposed trajectory method always generates differentiable S-curve shape regardless of irregular time intervals, even when a new target is inputted before the trajectory does not reach to the previous target, or when a target is lost due to the communication problems. Also, the proposed method generates a trajectory considering physical system limits, for instance, maximum velocity, acceleration, and jerk, through the successive digital convolution that can reduce computational load, by using a recursive form of convolution operation. The effectiveness of the proposed method is shown through simulations.