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Planning Continuous-Jerk Trajectories for Industrial Manipulators

[+] Author Affiliations
Paolo Boscariol, Alessandro Gasparetto

University of Udine, Udine, Italy

Renato Vidoni

Free University of Bozen-Bolzano, Bolzano, Italy

Paper No. ESDA2012-82103, pp. 127-136; 10 pages
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4486-1
  • Copyright © 2012 by ASME


Planning smooth trajectories is crucial in the most advanced robotic applications in industrial environments. In this paper two novel trajectory planning methods for robotic manipulators are introduced, named “545” and “5455”. Both methods are based on an interpolation of a sequence of via points using a combination of 4th and 5th order polynomial functions. These techniques allow to obtain a continuous-jerk trajectory for improved smoothness and minimum excitation of vibration. By using the “545” method, null jerk at initial time can be achieved, while with the “5455” method one can impose an arbitrary value of jerk at both the first and the last via-point. The outcome of both methods is the optimal time distribution of the via points, with respect to a predefined objective function. Results are provided for a 3 d.o.f. Cartesian manipulator, but the techniques may be applied to any industrial robot.

Copyright © 2012 by ASME
Topics: Manipulators



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