Jerk-bounded and -continuous trajectory planning for a 6-DOF serial robot manipulator with revolute joints

摘要

This paper deals with the trajectory planning problem of a 6 DOF serial robot manipulator to achieve a high smooth and efficiency tracking performance, while keeping the angle jerk of each robot joint bounded and continuous. A novel approach combining the acceleration/deceleration (acc/dec) strategy in Cartesian space and multi-degree B-spline interpolation in joint space is proposed. Specially, the efficiency of the motion control is improved by using S-shape acc/dec method, and the boundedness and continuity of velocity, acceleration and jerk for each robot joint is guaranteed by applying the septuple B-spline interpolation in the joint space. Finally, experimental results verify the effectiveness of the proposed method.