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acceleration profile

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On-line robot trajectory control in joint coordinates by means of imposed acceleration profiles
Ir. L. Van Aken, H. Van Brussel
Journal:

Robotica / Volume 6 / Issue 3 / July 1988

Published online by Cambridge University Press:

09 March 2009, pp. 185-195
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A method for trajectory control in the joint space is presented. An acceleration profile is proposed for each segment of the trajectory. After a twofold integration a position trajectory is obtained with advantageous characteristics. The position trajectory is completely dynamically balanced; it exhibits continuity up to the third derivative of the position. This way, minimum requirements are imposed on the actuators. The technique delivers predictable results since the trajectory deviates only slightly from a straight line connection between successive joint coordinates. Very limited computational effort is required.