MINIMUM JERK FOR TRAJECTORY PLANNING AND CONTROL

It has been experimentally verified that the jerk of the desired traje ctory adversely affects the performance of the tracking control algori thms for robotic manipulators. In this paper, we investigate the reaso ns behind this effect, and state the trajectory planning problem as an optimization problem that minimizes a norm of joint jerk over a presp ecified Cartesian space trajectory. The necessary conditions are deriv ed and a numerical algorithm is presented.