Trajectory planning algorithm based on the continuity of jerk (CROSBI ID 530175)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Petrinec, Krešimir ; Kovačić, Zdenko
engleski
Trajectory planning algorithm based on the continuity of jerk
This paper presents a trajectory planning method that provides a continuity of position, velocity, acceleration and jerk. The method combines fifth-order and fourth-order polynomials in order to satisfy the continuity of jerk and give smooth accelerations on all segments of the planned trajectory. The proposed method was tested for movements of the three-axes planar articulated robot. The method includes limits of the velocities, accelerations, and jerks of each robot joint. Simulation results are presented and compared with the results obtained by the original Ho and Cook spline-interpolation method.
trajectory planning; jerk continuity; planar robot
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Podaci o prilogu
1-5-x.
2007.
objavljeno
Podaci o matičnoj publikaciji
The Proceedings of the 15th Mediterranean Conference on Control and Automation
Kovačić, Zdenko
Atena: Mediterranean Control Association
978-96-0254-664-2
Podaci o skupu
The 15th Mediterranean Conference on Control and Automation
predavanje
27.06.2007-29.06.2007
Atena, Grčka