Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots
This work deals with jerk–continuous trajectory planning for robotic manipulators by means of the fourth-order S-curve to ensure motion smoothness. The algorithm presented in this work can cause the acceleration and jerk to stay in a saturated state in order to improve the efficiency of a robot’s pr...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-02-01
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| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/12/5/1135 |