Minimum jerk trajectory planning for robotic manipulatorsIt 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.
Document ID
19920069090
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kyriakopoulos, K. J. (NASA Headquarters Washington, DC United States)
Saridis, G. N. (NASA Center for Intelligent Robotic Systems for Space Exploration; Rensselaer Polytechnic Institute, Troy, NY, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Cybernetics
Meeting Information
Meeting: Cooperative Intelligent Robotics in Space