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Robotic arm time–jerk optimal trajectory based on improved dingo optimization
Time and jerk are two pivotal factors in the optimal trajectory planning of a manipulator. A trajectory that minimizes time and jerk can ensure...
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A novel and efficient jerk-smooth feedrate scheduling algorithm for NURBS interpolation
The feedrate scheduling of non-uniform rational B-spline (NURBS) interpolation plays a crucial role in achieving efficient and high-precision...
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Jerk-bounded trajectory planning for rotary flexible joint manipulator: an experimental approach
The fundamental criteria for industrial manipulator applications are vibration free and smooth motion with minimum time. This paper investigates the...
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Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton
Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again. A gait planning method of this robot must be able...
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Stereo digital image correlation (3D-DIC) for non-contact measurement and refinement of delta robot arm displacement and jerk
This study proposes using the stereo digital image correlation (3D-DIC) method to measure the delta robot arm displacement and jerk to verify the...
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Jerk Optimized Motion Planning of Redundant Space Robot Based on Grey-Wolf Optimization Approach
In the joint space, calculating the jerk-optimized trajectory of a redundant space manipulator is a significant issue in motion planning. The third...
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Motion Profiles with Elliptic Jerk
The paper proposes a motion profile based on the curiosity-driven hypothesis of elliptic jerk and investigates its features. This approach is...
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Simple adaptive control for industrial feed drive systems using a jerk-based augmented output signal
In the manufacturing industry, there is an extensive use of high-precision motion control techniques to achieve high performance in the feed drive...
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Formation control of unmanned rotorcraft systems with state constraints and inter-agent collision avoidance
We present in this paper a novel framework and distributed control laws for the formation of multiple unmanned rotorcraft systems, be it single-rotor...
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An Experimental Setup to Test Time-Jerk Optimal Trajectories for Robotic Manipulators
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...
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Optimum-Blended Trajectory Generation of ABB SCARA Robot to Minimize Travel Time and Jerk with Dynamic Motion Analysis
The ABB SCARA robot is widely used in industries as an assembly-line robot. This paper aims at presenting an optimized trajectory so that robotic...
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A spline-based approach to smooth and time-optimal trajectory generation for CNC machines with guaranteed kinematic constraints
In motion trajectory optimization of industrial machines, discrete points on a trajectory are typically considered for calculation. However, discrete...
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Real-time master-based feedrate scheduling with kinematic constraints for five-axis machining
Feedrate scheduling with kinematic constraints is a challenging problem for five-axis machining. Linear and rotary drives of five-axis machine tools...
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An efficient method for collision-free and jerk-constrained trajectory generation with sparse desired way-points for a flying robot
In this paper, an efficient approach is developed to plan jerk-constrained smooth trajectories passing through desired way-points with allowable...
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Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot
To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases, this paper proposes a...
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S-Shape Feedrate Scheduling Method with Smoothly-Limited Jerk in Cyber-Physical Systems
For the successful implementation of innovative automated technological processes, such as high speed machining, 3D laser welding, 3D laser cutting...
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Optimization of tool axis vector for mirror milling of thin-walled parts based on kinematic constraints
In mirror milling of thin-walled parts, the machining path and change in tool axis vector will affect the surface quality of the workpiece and...
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Effect of driving functions with different jerk and accelerating time length on dynamic performance for mechanical systems: analysis and optimization
We studied the methods that are used for analyzing and optimizing the dynamic performance of mechanical systems in the startup stage under different...
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Development of an Adaptive-Feedrate Planning and Iterative Interpolator for Parametric Toolpath with Normal Jerk Constraint
Compared to conventional linear and circular segments, the parametric curve has advantages in approximating and machining, guaranteeing higher...
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On the Methodologies to Compute Minimum Jerk Trajectories and Their Application in Collaborative Robotics
Industrial collaborative robots have safety features that, if tuned correctly, make possible their physical interaction with humans. However, in...