Geometric Approach to Robot Deceleration Control Nonlinear Distance-Based Control Method Using a Parabolic Cylinder

Geometric Approach to Robot Deceleration Control Nonlinear Distance-Based Control Method Using a Parabolic Cylinder | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 2 September 2025 V1 Latest version Share on Geometric Approach to Robot Deceleration Control Nonlinear Distance-Based Control Method Using a Parabolic Cylinder Author : youngook kim 0009-0007-1188-3418 [email protected] Authors Info & Affiliations https://doi.org/10.22541/au.175683840.05193375/v1 153 views 80 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract Accurate and smooth deceleration is crucial for the safety and efficiency of autonomous robotic systems. Traditional methods, such as time-based linear and S-curve profiles, suffer from limited real-time adaptability and can cause mechanical stress due to jerk. This paper introduces the Parabolic Cylinder Velocity-Nonlinear Approach (PCV-NA), a novel, distance-based deceleration control method derived from a three-dimensional geometric model. The method directly links remaining distance to velocity, enabling instant adaptation to sensor feedback. It also accounts for non-zero initial velocities, path curvature, and controller response delays. While the current implementation does not explicitly minimize jerk, this approach provides a robust and computationally efficient solution for real-time deceleration control, with potential for widespread deployment in diverse robotic platforms. Supplementary Material File (geometric approach to robot deceleration control(pdf).pdf) Download 102.20 KB Information & Authors Information Version history V1 Version 1 02 September 2025 Copyright This work is licensed under a Creative Commons Attribution 4.0 International License Keywords autonomous systems deceleration distance-based control parabolic cylinder robot control Authors Affiliations youngook kim 0009-0007-1188-3418 [email protected] Independent Researcher View all articles by this author Metrics & Citations Metrics Article Usage 153 views 80 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation youngook kim. Geometric Approach to Robot Deceleration Control Nonlinear Distance-Based Control Method Using a Parabolic Cylinder. Authorea . 02 September 2025. DOI: https://doi.org/10.22541/au.175683840.05193375/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. 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