NASA NTRS · 19920069090
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, the reasons behind this effect are investigated, and an optimization problem that minimizes joint jerk over a prespecified Cartesian space trajectory is stated. The necessary conditions are derived, and a numerical algorithm is presented.
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Kyriakopoulos, K. J., Saridis, G. N.. 1991-01-01. Minimum jerk trajectory planning for robotic manipulators. https://ntrs.nasa.gov/citations/19920069090
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