Minimum jerk for trajectory planning and control

Robotica ◽  
1994 ◽  
Vol 12 (2) ◽  
pp. 109-113 ◽  
Author(s):  
K.J. Kyriakopoulos ◽  
G.N. Saridis
Keyword(s):  
Trajectory Planning ◽  
Tracking Control ◽  
Optimization Problem ◽  
Control Algorithms ◽  
Planning Problem ◽  
Cartesian Space ◽  
Planning And Control ◽  
Minimum Jerk ◽  
And Control ◽  
Trajectory Planning And Control

SUMMARYIt 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.

Trajectory Planning and Control of Handling Robot Manipulator

2021 ◽  
Vol 1802 (2) ◽  
pp. 022067
Author(s):  
Xing Zhang ◽  
Hao Kou ◽  
Yi Zhang ◽  
Kaina Jan ◽  
Boris Ivanovic
Keyword(s):  
Trajectory Planning ◽  
Robot Manipulator ◽  
Planning And Control ◽  
And Control ◽  
Trajectory Planning And Control

scholarly journals Trajectory planning and control for drone replacement for multidrone cinematography

2019 ◽  
Vol 52 (12) ◽  
pp. 334-339
Author(s):  
Marta Marques ◽  
Bruno J. Guerreiro ◽  
Rita Cunha ◽  
Carlos Silvestre
Keyword(s):  
Trajectory Planning ◽  
Planning And Control ◽  
And Control ◽  
Trajectory Planning And Control

scholarly journals Online trajectory planning and control of a MAV payload system in dynamic environments

2020 ◽  
Vol 44 (6) ◽  
pp. 1065-1089
Author(s):  
Nikhil D. Potdar ◽  
Guido C. H. E. de Croon ◽  
Javier Alonso-Mora
Keyword(s):  
Trajectory Planning ◽  
Dynamic Environments ◽  
Planning And Control ◽  
And Control ◽  
Trajectory Planning And Control
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