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Proceedings Paper

Minimum jerk trajectory planning for robotic manipulators
Author(s): Konstantinos J. Kyriakopoulos; George N. Saridis
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Paper Abstract

It has been experimentally verified that the jerk of the desired trajectory adversely affects the perormance of the tracking control algorithms for robotic manipulators. In this paper we investigate the reasons behind this effect and state an optimization problem that minimizes joint jerk over a prespecified cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.

Paper Details

Date Published: 1 February 1991
PDF: 6 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25421
Show Author Affiliations
Konstantinos J. Kyriakopoulos, Rensselaer Polytechnic Institute (United States)
George N. Saridis, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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