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

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

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 infini...

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Bibliographic Details
Main Author: Robert L. Williams
Format: Article
Language:English
Published: Hindawi Limited 2013-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2013/735958
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spelling doaj-30accc360d564737a63f700ede5f07df2020-11-24T21:06:12ZengHindawi LimitedJournal of Robotics1687-96001687-96192013-01-01201310.1155/2013/735958735958Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single PolynomialRobert L. Williams0Department of Mechanical Engineering, Ohio University, Athens, OH 45701, USAThis 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.http://dx.doi.org/10.1155/2013/735958
collection DOAJ
language English
format Article
sources DOAJ
author Robert L. Williams
spellingShingle Robert L. Williams
Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
Journal of Robotics
author_facet Robert L. Williams
author_sort Robert L. Williams
title Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
title_short Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
title_full Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
title_fullStr Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
title_full_unstemmed Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
title_sort simplified robotics joint-space trajectory generation with a via point using a single polynomial
publisher Hindawi Limited
series Journal of Robotics
issn 1687-9600
1687-9619
publishDate 2013-01-01
description 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.
url http://dx.doi.org/10.1155/2013/735958
work_keys_str_mv AT robertlwilliams simplifiedroboticsjointspacetrajectorygenerationwithaviapointusingasinglepolynomial
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