Two approaches to bounded jerk trajectory planning

Abstract

This paper presents two different approaches to trajectory planning that provide boundedness of position, velocity, acceleration and jerk. To achieve that goal on all segments of the planned trajectory, the first approach combines fifth-order and fourth-order polynomials, while the second one separates a velocity profile from a given path. Using a minimal path traversal time criterion for both approaches, the methods were tested and verified on a selected trajectory for a three degrees of freedom (DOF) planar articulated robot.