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：

Functions - Space flight;

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.

引用

页数：6

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