Minimum jerk trajectory planning for robotic manipulators

K. J. Kyriakopoulos; G. N. Saridis

doi:10.1117/12.25421

Minimum jerk trajectory planning for robotic manipulators

K. J. Kyriakopoulos, G. N. Saridis

Electrical Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

It 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 an optimization problem that minimizes joint jerk over a prespecified cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.

Original language	English (US)
Pages (from-to)	159-164
Number of pages	6
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	1387
DOIs	https://doi.org/10.1117/12.25421
State	Published - 1991
Event	Cooperative Intelligent Robotics in Space - Boston, MA, USA Duration: Nov 6 1990 → Nov 7 1990

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Computer Science Applications
Applied Mathematics
Electrical and Electronic Engineering

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10.1117/12.25421

Cite this

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title = "Minimum jerk trajectory planning for robotic manipulators",

abstract = "It 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 an optimization problem that minimizes joint jerk over a prespecified cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.",

author = "Kyriakopoulos, {K. J.} and Saridis, {G. N.}",

year = "1991",

doi = "10.1117/12.25421",

language = "English (US)",

volume = "1387",

pages = "159--164",

journal = "Proceedings of SPIE - The International Society for Optical Engineering",

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publisher = "SPIE",

note = "Cooperative Intelligent Robotics in Space ; Conference date: 06-11-1990 Through 07-11-1990",

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AU - Kyriakopoulos, K. J.

AU - Saridis, G. N.

PY - 1991

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N2 - It 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 an optimization problem that minimizes joint jerk over a prespecified cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.

AB - It 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 an optimization problem that minimizes joint jerk over a prespecified cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.

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U2 - 10.1117/12.25421

DO - 10.1117/12.25421

M3 - Conference article

AN - SCOPUS:0025745873

SN - 0277-786X

VL - 1387

SP - 159

EP - 164

JO - Proceedings of SPIE - The International Society for Optical Engineering

JF - Proceedings of SPIE - The International Society for Optical Engineering

T2 - Cooperative Intelligent Robotics in Space

Y2 - 6 November 1990 through 7 November 1990

ER -

Minimum jerk trajectory planning for robotic manipulators

Abstract

ASJC Scopus subject areas

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