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Improved Robotics Joint-Space Trajectory Generation With Via Point

[+] Author Affiliations
Robert L. Williams, II

Ohio University, Athens, OH

Paper No. DETC2011-47592, pp. 669-676; 8 pages
doi:10.1115/DETC2011-47592
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

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 function rather than two polynomial functions matched at the via point as in previous methods. Another contribution of this paper is to expose the widespread, use of discontinuous acceleration functions in joint-space trajectory generation methods, which lead to unacceptable infinite spikes in jerk, the derivative of the acceleration.

Copyright © 2011 by ASME

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