CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS (CROSBI ID 575870)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Konjević Branislav ; Kovačić, Zdenko
engleski
CONTINUOUS JERK TRAJECTORY PLANNING ALGORITHMS
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.
Trajectory Planning; Jerk Continuity; 5th-order Polynomials; Planar Robot
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Podaci o prilogu
481-489.
2011.
objavljeno
Podaci o matičnoj publikaciji
Ferrier Jean-Louis ; Bernard, Alain ; Gusikhin Oleg ; Madani, Kurosh
SCITEPRESS
978-989-8425-74-4
Podaci o skupu
The 8th International Conference on Informatics in Control, Automation and Robotics ICINCO 2011
predavanje
28.08.2011-31.08.2011
Noordwijkerhout, Nizozemska