Jerk-Limited Time-Optimal Reference Trajectory Generation for Robot Actuators

摘要

Smooth trajectory generation is crucial for high performance control of actuators in industrial robots. In this article, we implement a simple jerk-limited time-optimal point-to-point reference trajectories for position control of electric motor based actuators. First, we briefly review the jerk-limited reference trajectory generation schemes. Then we simplify an existing result under the assumption that the initial and the final speeds of each reference trajectory are zero. Experimental results are provided to show the validity of the simplified algorithm.