CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS

Branislav Konjević, Zdenko Kovačić

Abstract

This paper deals with two trajectory planning algorithms that provide a continuity of position, velocity, acceleration and jerk. The first method achieves that goal by separating a planned path and a corresponding velocity profile, while the other method combines fifth-order polynomials to satisfy the continuity of jerk and give smooth accelerations on all segments of the planned trajectory. Two methods were compared on a benchmark trajectory for a 3-DOF planar articulated robot and comments of the results obtained for each method are given.

References

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Paper Citation


in Harvard Style

Konjević B. and Kovačić Z. (2011). CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICM, (ICINCO 2011) ISBN 978-989-8425-74-4, pages 481-489. DOI: 10.5220/0003648304810489


in Bibtex Style

@conference{icm11,
author={Branislav Konjević and Zdenko Kovačić},
title={CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICM, (ICINCO 2011)},
year={2011},
pages={481-489},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003648304810489},
isbn={978-989-8425-74-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICM, (ICINCO 2011)
TI - CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS
SN - 978-989-8425-74-4
AU - Konjević B.
AU - Kovačić Z.
PY - 2011
SP - 481
EP - 489
DO - 10.5220/0003648304810489