Synchronized trigonometric S-Curve trajectory for jerk-Bounded Time-Optimal pick and Place Operation

  title={Synchronized trigonometric S-Curve trajectory for jerk-Bounded Time-Optimal pick and Place Operation},
  author={S. Saravana Perumaal and Natarajan Jawahar},
  journal={Int. J. Robotics Autom.},
Abstract Industrial robots are predominately used in point-to-point applica-tions such as machine loading and unloading and spot welding. Asmooth and time-optimal trajectory of robot is essential for precisehandling applications. Lot of jerk-limited motion profiles are pro-posed in the literature and are classified under two approaches. Inthe first approach, the motion profiles are generated using prede-fined intermediate points called knot or control points which arespeci… Expand
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