Minimum jerk trajectory planning for robotic manipulators

K. J. Kyriakopoulos, G. N. Saridis

Research output: Contribution to journalConference articlepeer-review


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 languageEnglish (US)
Pages (from-to)159-164
Number of pages6
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - 1991
EventCooperative Intelligent Robotics in Space - Boston, MA, USA
Duration: Nov 6 1990Nov 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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