Minimum jerk path generation

  title={Minimum jerk path generation},
  author={Kostas J. Kyriakopoulos and George N. Saridis},
This paper presents a simple method o f trajectory generation of robot manipulators based on an optimal control problem formulation. It was found recently that the jerk, the third derivative of position, of the desired trajectory, adversely affects the efficiency of the control algorithms and therefore should be minimized. Assuming joint position, velocity and acceleration t o be constrained a cost criterion containing jerk is considered. Initially. the simple environment without obstacles and… CONTINUE READING
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