Asymmetric s-curve trajectory planning for robot point-to-point motion
Open Access
- 1 December 2009
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2172-2176
- https://doi.org/10.1109/robio.2009.5420482
Abstract
In this paper, we develop an asymmetric s-curve profile method with jerk bounded to obtain high-precision motion and reduce the residual vibration. All possible instances for asymmetric s-curve profile planning are analyzed. The algorithm and its implementation are proposed with a direct and complete method. Simulation results are presented to verify the effectiveness and reliability of the proposed approach.Keywords
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