Minimum jerk trajectory planning for robotic manipulators

Konstantinos J. Kyriakopoulos; George N. Saridis

doi:10.1117/12.25421

1 February 1991 Minimum jerk trajectory planning for robotic manipulators

Konstantinos J. Kyriakopoulos, George N. Saridis

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25421
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

It has been experimentally verified that the jerk of the desired trajectory adversely affects the perormance of the tracking control algorithms for robotic manipulators. In this paper we investigate the reasons behind this effect and state an optimization problem that minimizes joint jerk over a prespecified cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.

Citation Download Citation

Konstantinos J. Kyriakopoulos and George N. Saridis "Minimum jerk trajectory planning for robotic manipulators", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25421

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