Real-time end-effector path following for robot manipulators subject to velocity, acceleration, and jerk joint limits

In this paper, an inverse kinematics algorithm for robot manipulators is developed which takes into account joint velocity, acceleration and jerk limits while ensuring tracking of the assigned end-effector path. The desired end-effector trajectory is supposed to be assigned on-line and the algorithm is suitable for real-time implementation on nonredundant robot arms. Numerical simulation results are reported to demonstrate the effectiveness of the proposed technique.