Time-optimal and Minimum-Jerk Trajectory Planning of 3-DOF PM Spherical Motor

In order to ensure the three degree of freedom permanent magnet spherical motor complete the specified motion process with high efficiency and minimum-jerk, a kind of trajectory planning method is proposed with five times non uniform rational B spline curve interpolation sequence. With the rotor output shaft have constrained accelertion, the starting speed, acceleration, jerk and ending speed, acceleration, jerk can be set in the moving process. Non uniform rational B spline curve control vertices are transformed by kinematic constraints, under the requirement of Minimum time and Minimum jerk, calculate the time node by the sequential quadratic programming method, at the same time, considering the kinematic constraints of speed, acceleration and jerk. The simulation results show that the proposed method can obtain the optimal trajectory planning in the specified time.