Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning

In this paper, two minimum time-jerk trajectory planning algorithms for robotic manipulators have been considered, evaluated and experimentally validated. These algorithms consider both the execution time and the integral of the squared jerk along the whole trajectory, so as to take into account the...

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Veröffentlicht in:Robotics and computer-integrated manufacturing Jg. 28; H. 2; S. 164 - 181
Hauptverfasser: Gasparetto, A., Lanzutti, A., Vidoni, R., Zanotto, V.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier Ltd 01.04.2012
Schlagworte:
Algorithms
Automation
Industrial robots
Jerk
Manipulators
Manufacturing engineering
Robotics
Smoothness
Trajectories
Trajectory planning
Trajectory planning
Smoothness
Robotics
Jerk
ISSN:0736-5845, 1879-2537
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Zusammenfassung:In this paper, two minimum time-jerk trajectory planning algorithms for robotic manipulators have been considered, evaluated and experimentally validated. These algorithms consider both the execution time and the integral of the squared jerk along the whole trajectory, so as to take into account the need for fast execution and the need for a smooth trajectory, by adjusting the values of two weights. A comparative analysis of these algorithms with two different trajectory planning techniques taken from the literature has been carried out, by means of experimental tests performed on a real robotic manipulator. The results prove the experimental effectiveness of the proposed techniques. ► Experimental validation of two minimum time-jerk trajectory planning algorithms. ► Theoretical and experimental comparative analysis with other optimum algorithms. ► Trajectories planned and run on a Cartesian robot with a piezoelectric accelerometer. ► Effectiveness of the minimum time-jerk planning algorithms has been proven.
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ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2011.08.003