文献类型：期刊文献

英文题名：JERK-CONTINUOUS ONLINE TRAJECTORY PLANNING AND FEEDFORWARD CONTROL FOR FLEXIBLE JOINT ROBOTS

作者：Jia, Pengxiao[1] Li, Yifeng[1] Yang, Jianhua[2]

第一作者：Jia, Pengxiao

机构：[1] College of Science, Beijing Forestry University, Beijing, 100083, China; [2] Research Institute of Wood Industry, Chinese Academy of Forestry, Beijing, 100091, China

年份：2025

卷号：40

期号：10

起止页码：1-10

外文期刊名：International Journal of Robotics and Automation

收录：EI(收录号：20252218503832);Scopus(收录号：2-s2.0-105006436585)

语种：英文

外文关键词：Industrial robots - Motion planning

摘要：This paper presents a novel seventh-degree polynomial joint space trajectory planning algorithm. This algorithm features continuous jerk, enabling efficient online computation and handling of singular configurations in robotic systems. Furthermore, a fourth-order feedforward controller is implemented to investigate vibration control in flexible joint robots. Comparative experiments demonstrate the proposed trajectory planning algorithm’s ability to generate smoother trajectories. The fourth-order feedforward control effectively leverages information from the reference trajectory. The combined approach of the proposed trajectory planning algorithm and fourth-order feedforward control significantly enhances the control performance of flexible joint robots. ? 2019 Elsevier Ltd. All rights reserved.