Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial-Reference-Cited by-同舟云学术

Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial

Published:2013 Issue: Volume:2013 Page:1-6
ISSN:1687-9600
Container-title:Journal of Robotics
language:en
Short-container-title:Journal of Robotics

Author:

Williams Robert L.¹^ORCID

Affiliation:

1. Department of Mechanical Engineering, Ohio University, Athens, OH 45701, USA

Abstract

This paper presents novel fourth- and sixth-order polynomials to solve the problem of joint-space trajectory generation with a via point. These new polynomials use a single-polynomial function rather than two-polynomial functions matched at the via point as in previous methods. The problem of infinite spikes in jerk is also addressed.

Publisher

Hindawi Limited

Subject

General Computer Science,Control and Systems Engineering

Link

http://downloads.hindawi.com/journals/jr/2013/735958.pdf

Reference10 articles.

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