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Title: Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints
This work presents an online trajectory generation algorithm using a sinusoidal jerk profile. The generator takes initial acceleration, velocity and position as input, and plans a multi-segment trajectory to a goal position under jerk, acceleration, and velocity limits. By analyzing the critical constraints and conditions, the corresponding closed-form solution for the time factors and trajectory profiles are derived. The proposed algorithm was first derived in Mathematica and then converted into a C++ implementation. Finally, the algorithm was utilized and demonstrated in ROS & Gazebo using a UR3 robot. Both the Mathematica and C++ implementations can be accessed at  more » « less
Award ID(s):
2130793 1553063 1849303
Author(s) / Creator(s):
; ; ; ;
Date Published:
Journal Name:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Page Range / eLocation ID:
5730 to 5736
Medium: X
Sponsoring Org:
National Science Foundation
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