An experimental setup to test optimal time-jerk trajectories for robotic manipulators is presented in this paper. The setup is used, in this work, to test the execution of smooth motion profiles passing through a sequence of via-points, designed by means of the optimization of a mixed time-jerk cost function. Experimental tests are performed on a Franka Emika robot with seven degrees of freedom equipped with accelerometers to measure the motion-induced oscillations of the end-effector. The experimental results show a good agreement with the numerical tests and demonstrate the feasibility of the approach chosen for optimizing smooth trajectories for robotic manipulators.

An Experimental Setup to Test Time-Jerk Optimal Trajectories for Robotic Manipulators

Lozer F.;Scalera L.;Boscariol P.;Gasparetto A.
2023-01-01

Abstract

An experimental setup to test optimal time-jerk trajectories for robotic manipulators is presented in this paper. The setup is used, in this work, to test the execution of smooth motion profiles passing through a sequence of via-points, designed by means of the optimization of a mixed time-jerk cost function. Experimental tests are performed on a Franka Emika robot with seven degrees of freedom equipped with accelerometers to measure the motion-induced oscillations of the end-effector. The experimental results show a good agreement with the numerical tests and demonstrate the feasibility of the approach chosen for optimizing smooth trajectories for robotic manipulators.
2023
978-3-031-32605-9
978-3-031-32606-6
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11390/1257764
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