New method for the reducing of the jerk for an industrial robot

Kee Hwan Kim; Young Dae Lee

doi:10.1117/12.664772

2 May 2006 New method for the reducing of the jerk for an industrial robot

Kee Hwan Kim, Young Dae Lee

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423P (2006) https://doi.org/10.1117/12.664772
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

A new method was described for computing trajectories from zero velocity to zero velocity for a second order system. In order to reduce jerk without great efforts, this contribution attempts to quantify the relative performances of different trajectory computation methods for a given maximum acceleration and deceleration over a given path. To compare the jerk between the proposed and conventional trajectory computation method, an industrial robot controlled by transputer network was used.

Citation Download Citation

Kee Hwan Kim and Young Dae Lee "New method for the reducing of the jerk for an industrial robot", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423P (2 May 2006); https://doi.org/10.1117/12.664772

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