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Many methods have been developed in trajectory planning in order to achievesmooth and accurate motion with considering the constraints of kinematicsconstraints such as angular position, velocity, acceleration, and jerk. Theproblem of using the combination of n-order polynomials is that there is noideally match between the segments of trajectory path at the via point in termsof the number of kinematic constraints. It leads to generate undesirabletrajectory path at the via point that connects between two segments of thetrajectory path. In this paper, we aim to investigate the effect of increasingto higher order polynomial blends on the accuracy of the via points withconsidering different kinematics constraints. Based on that, the methodologythat was used in this paper is based on the polynomial segment with the higherpolynomial blend (PSPB). Three techniques implemented which are 4-3-4 PSPB,5-4-5 PSPB, and 6-5-6 PSPB. Each technique implemented based on applyingdifferent kinematic constraints. The three techniques validated using amodeling design in SemiMechanics. According to the methodology, the resultanalyzed and discussed in terms of angular position, angular velocity, angularacceleration, and angular jerk based on Root Mean Square Error (RMSE) andAverage Difference Error (ADE). The result shows that RMSE of angular positionfor 4-3-4 PSPB-1, 4-3-4 PSPB-2, 5-4-5 PSPB-1, 5-4-5 PSPB-2, 6-5-6 PSPB-1, and6-5-6 PSPB-2 are 0.4574, 0.0172, 10.9089, 0.1242, 0.6153, and 0.3128 degreesrespectively. At the same time, the ADE are 0.0455, 0.0017, 1.0855, 0.0124,0.0612, and 0.0311 degrees respectively. Thus, the error is increased obviouslywhen there is no ideal match at the via point in terms of a number of kinematicconstraints.

The Effectiveness of Kinematic Constraints on The Accuracy of Trajectory Profile of Human Walking Using PSPB Technique