MINIMUM JERK FOR TRAJECTORY PLANNING AND CONTROL

被引：15
|
作者：
KYRIAKOPOULOS, KJ
SARIDIS, GN
机构：
[1] NASA Center for Intelligent Robotic Systems sjpyfor Space Exploration, Rensselaer Polytechnic Institute, Trov, NY
来源：
ROBOTICA | 1994年 / 12卷
基金：
美国国家航空航天局;
关键词：
TRAJECTORY; CONTROL ALGORITHM; ROBOTS;
D O I：
10.1017/S0263574700016696
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
It 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, we investigate the reasons behind this effect, and state the trajectory planning problem as an optimization problem that minimizes a norm of joint jerk over a prespecified Cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.
引用
收藏
页码：109 / 113
页数：5
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