Naslov
CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS

Autori
Konjević Branislav ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics ICINCO 2011 / Ferrier Jean-Louis ; Bernard, Alain ; Gusikhin Oleg ; Madani, Kurosh - : SCITEPRESS, 2011, 481-489

ISBN
978-989-8425-74-4

Skup
The 8th International Conference on Informatics in Control, Automation and Robotics ICINCO 2011

Mjesto i datum
Noordwijkerhout, Nizozemska, 28.08.2011. - 31.08.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Trajectory Planning; Jerk Continuity; 5th-order Polynomials; Planar Robot.
(Trajectory Planning; Jerk Continuity; 5th-order Polynomials; Planar Robot)

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA