Global minimum-jerk trajectory planning of robot manipulators

By Aurelio Piazzi, Antonio Visioli. IEEE transactions on industrial electronics (1982. Print), 2000

393 citations recorded by the source corpus.

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Path Planning and Trajectory Planning Algorithms: A General Overview (2015, methodology): “In [70] the Authors present a comparison with the method based on trigonometric splines [83], reporting the highest values of the jerk, of the torques and of the torque variations.”
Jerk-bounded manipulator trajectory planning: design for real-time applications (2003, methodology): “Higher order polynomials are generally not used due to their tendency to oscillate and, therefore, to generate retrograde motion [4], [12].”
A new method for smooth trajectory planning of robot manipulators (2007, methodology): “For instance, Simon and Isik [22] minimize the integral of the squared jerk, while Piazzi and Visioli [23] use a minimax approach to minimize the maximum value of the jerk along the trajectory.”
Robots in machining (2019, background): “In the latter case, a path quality index is favored and time is treated as a constraint [41].”
Statistical evaluation of an evolutionary algorithm for minimum time trajectory planning problem for industrial robots (2017, methodology): “The methods used in the literatures such as sequential unconstrained minimization technique (SUMT) [37, 38,39,40,41], SQP [7,17], interval analysis [33], harmony search [48], and numerical iterative procedure [12] to deal with the complex instances (obstacles environment) have some notable drawbacks”