Cosine Second Order Robot Trajectory Planning Method

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volumes 80-81)
• Pages: 1075-1080
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.80-81.1075
• Online since: July 2011
• Authors: Zong Wu Xie, Cao Li, Hong Liu
• Keywords: Cosine Second Order, Jerk, Trajectory Planning

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