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Minimum jerk for trajectory planning and control

Published online by Cambridge University Press:  09 March 2009

K.J. Kyriakopoulos  and
G.N. Saridis
K.J. Kyriakopoulos
Affiliation:
NASA Center for Intelligent Robotic Systems for Space Exploration, Rensselaer Polytechnic Institute, Troy, NY 12180–3580(USA)
G.N. Saridis
Affiliation:
NASA Center for Intelligent Robotic Systems for Space Exploration, Rensselaer Polytechnic Institute, Troy, NY 12180–3580(USA)
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Summary

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

Keywords

TrajectoryControl algorithmRobots
Type
Article
Information
Robotica , Volume 12 , Issue 2 , March 1994 , pp. 109 - 113
Copyright
Copyright © Cambridge University Press 1994

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