Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints
Haoran Zhao,Nihal Abdurahiman,Nikhil Navkar,Julien Leclerc,Aaron T. Becker,Haoran Zhao,Nihal Abdurahiman,Nikhil Navkar,Julien Leclerc,Aaron T. Becker
This work presents an online trajectory generation algorithm using a sinusoidal jerk profile. The generator takes initial acceleration, velocity and position as input, and plans a multi-segment trajectory to a goal position under jerk, acceleration, and velocity limits. By analyzing the critical constraints and conditions, the corresponding closed-form solution for the time factors and trajectory ...
