CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS

Branislav Konjević, Zdenko Kovačić

2011

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.

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