Jerk-bounded manipulator trajectory planning: design for real-time applications

@article{Macfarlane2003JerkboundedMT,
  title={Jerk-bounded manipulator trajectory planning: design for real-time applications},
  author={Sonja E. Macfarlane and Elizabeth A. Croft},
  journal={IEEE Trans. Robotics Autom.},
  year={2003},
  volume={19},
  pages={42-52}
}
An online method for obtaining smooth, jerk-bounded trajectories has been developed and implemented. Jerk limitation is important in industrial robot applications, since it results in improved path tracking and reduced wear on the robot. The method described herein uses a concatenation of fifth-order polynomials to provide a smooth trajectory between two way points. The trajectory approximates a linear segment with parabolic blends trajectory. A sine wave template is used to calculate the end… 

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