Cosine Second Order Robot Trajectory Planning Method
A new joint space trajectory planning method for the series robot is proposed. Comparing with the traditional path planning methods which can only guarantee the planned trajectory velocity or acceleration continuous, the proposed trajectory planning algorithm can also ensure the derivative of acceleration (Jerk) continuous within a limit threshold. At the end of this paper, the proposed path planning algorithm is validated of having a great performance on robot trajectory tracking.
Linli Xu, Wenya Tian and Elwin Mao
Z. W. Xie et al., "Cosine Second Order Robot Trajectory Planning Method", Applied Mechanics and Materials, Vols. 80-81, pp. 1075-1080, 2011