Planning algorithms for s-curve trajectories

  title={Planning algorithms for s-curve trajectories},
  author={Kim Doang Nguyen and I. Ming Chen and Teck-Chew Ng},
  journal={2007 IEEE/ASME international conference on advanced intelligent mechatronics},
Although numerous researches on s-curve motion profiles have been carried out, up to date, no systematic investigation on the general model of polynomial s-curve motion profiles is considered. In this paper, the model of polynomial s-curve motion profiles is generalized in a recursive form. Based on that, a general algorithm to design s-curve trajectory with jerk bounded and time-optimal consideration is proposed. In addition, a special strategy for planning s-curve motion profiles using a… CONTINUE READING
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