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EnglishIn this paper, two minimum time-jerk trajectory planning algorithms for robotic manipulators have been considered, evaluated and experimentally validated. These algorithms consider both the execution time and the integral of the squared jerk along the whole trajectory, so as to take into account the need for fast execution and the need for a smooth trajectory, by adjusting the values of two weights. A comparative analysis of these algorithms with two different trajectory planning techniques taken from the literature has been carried out, by means of experimental tests performed on a real robotic manipulator. The results prove the experimental effectiveness of the proposed techniques.
| Titolo: | Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning |
| Autori: | |
| Data di pubblicazione: | 2012 |
| Rivista: | |
| Citazione: | Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning / GASPARETTO A; LANZUTTI A.; VIDONI R.; ZANOTTO V.. - In: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. - ISSN 0736-5845. - 28:2(2012), pp. 164-181. |
| Abstract: | In this paper, two minimum time-jerk trajectory planning algorithms for robotic manipulators have been considered, evaluated and experimentally validated. These algorithms consider both the execution time and the integral of the squared jerk along the whole trajectory, so as to take into account the need for fast execution and the need for a smooth trajectory, by adjusting the values of two weights. A comparative analysis of these algorithms with two different trajectory planning techniques taken from the literature has been carried out, by means of experimental tests performed on a real robotic manipulator. The results prove the experimental effectiveness of the proposed techniques. |
| Handle: | http://hdl.handle.net/11390/868727 |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
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http://hdl.handle.net/11390/868727
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