Smooth trajectory generation is crucial for high performance control of actuators in industrial robots. In this article, we implement a simple jerk-limited time-optimal point-to-point reference trajectories for position control of electric motor based actuators. First, we briefly review the jerk-limited reference trajectory generation schemes. Then we simplify an existing result under the assumption that the initial and the final speeds of each reference trajectory are zero. Experimental results are provided to show the validity of the simplified algorithm.
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Jerk-Limited Time-Optimal Reference Trajectory Generation for Robot Actuators
Semantic Scholar · Computer Science · 2017
Abstract
Smooth trajectory generation is crucial for high performance control of actuators in industrial robots. In this article, we implement a simple jerk-limited time-optimal point-to-point reference trajectories for position control of electric motor based actuators. First, we briefly review the jerk-limited reference trajectory generation schemes. Then we simplify an existing result under the assumption that the initial and the final speeds of each reference trajectory are zero. Experimental results are provided to show the validity of the simplified algorithm.