An approach for jerk-continuous trajectory generation of robotic manipulators with kinematical constraints

Abstract

This paper proposes a methodology to generate online smooth joint trajectories of robots based on an improved sinusoidal jerk model. The multi-segment trajectory model is designed to allow a more sufficient exploitation of the actuation capability, thereby shortening the execution time while ensuring continuity up to the jerk level. Afterwards, the general mathematical expressions of the motion profiles are derived from integration of the jerk function. By analyzing the critical constraint conditions corresponding to each possible profile type, a complete closed-form solution to the minimum time planning problem with consideration of kinematic constraints has then been worked out, where a parameter named the ramp coefficient that manages the ratio of the sine jerk period is introduced to simplify the determination of the motion formulas. Thus the method results in a computationally light optimization procedure for facile implementation and enables a higher level of regularity for achieving desirable motion behaviours in light of the operation requirements and joint characteristics. Experimental results conducted on a robot manipulator reveal that the proposed approach is capable of yielding better performance than existing techniques in terms of efficiency and jerk suppression.