Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial

被引：9
|
作者：
Williams, Robert L., II [1 ]
机构：
[1] Ohio Univ, Dept Mech Engn, Athens, OH 45701 USA
来源：
JOURNAL OF ROBOTICS | 2013年 / 2013卷
关键词：
D O I：
10.1155/2013/735958
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents novel fourth-and sixth-order polynomials to solve the problem of joint-space trajectory generation with a via point. These new polynomials use a single-polynomial function rather than two-polynomial functions matched at the via point as in previous methods. The problem of infinite spikes in jerk is also addressed.
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页数：6
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