Jerk continuous Online Trajectory Generation for Robot Manipulator
What do you do if you need a really smooth robot trajectory (with no sudden changes in velocity or acceleration)? One way is to use a set of smooth jerk (the derivative of acceleration) commands. In this paper, we present a scheme and code to do that. Authors: Haoran Zhao, Nihal Abdurahiman, Nikhil Navkar, Julien Leclerc, and Aaron T. Becker, "Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints" to appear at IROS 2022. Contact me for a preprint!
This work presents an online trajectory generation algorithm using a sinusoidal jerk profile. The generator takes initial acceleration, velocity and position as input, and plans a multi-segment trajectory to a goal position under jerk, acceleration, and velocity limits. By analyzing the critical constraints and conditions, the corresponding closed-form solution for the time factors and trajectory profiles are derived. The proposed algorithm was first derived in Mathematica and then converted into a C++ implementation.
Finally, the algorithm was utilized and demonstrated in ROS \& Gazebo using a UR3 robot. Both the Mathematica and C++ implementations can be accessed at https://github.com/Haoran-Zhao/Jerk-c...