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

Robert L. Williams | Zendy

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

Author(s) -

Robert L. Williams

Publication year - 2013

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2013/735958

Subject(s) - polynomial , trajectory , computer science , robotics , point (geometry) , function (biology) , joint (building) , artificial intelligence , space (punctuation) , polynomial and rational function modeling , algorithm , jerk , mathematics , robot , mathematical optimization , mathematical analysis , acceleration , geometry , architectural engineering , physics , classical mechanics , astronomy , evolutionary biology , engineering , biology , operating system

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

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