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
Online-Zugang:	Volltext
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