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Proceedings Paper

New method for the reducing of the jerk for an industrial robot
Author(s): Kee Hwan Kim; Young Dae Lee
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Paper Abstract

A new method was described for computing trajectories from zero velocity to zero velocity for a second order system. In order to reduce jerk without great efforts, this contribution attempts to quantify the relative performances of different trajectory computation methods for a given maximum acceleration and deceleration over a given path. To compare the jerk between the proposed and conventional trajectory computation method, an industrial robot controlled by transputer network was used.

Paper Details

Date Published: 2 May 2006
PDF: 8 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423P (2 May 2006); doi: 10.1117/12.664772
Show Author Affiliations
Kee Hwan Kim, Semyung Univ. (South Korea)
Young Dae Lee, Semyung Univ. (South Korea)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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