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

通信作者：Yang, JH[1]

机构：[1]Beijing Forestry Univ, Coll Sci, Beijing 100083, Peoples R China;[2]Chinese Acad Forestry, Res Inst Wood Ind, Beijing 100091, Peoples R China

年份：2025

卷号：40

期号：10

起止页码：1-8

外文期刊名：INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION

收录：;EI(收录号：20252218503832);Scopus(收录号：2-s2.0-105006436585);WOS:【SCI-EXPANDED(收录号:WOS:001525586700001)】；

语种：英文

外文关键词：Trajectory planning; feedforward control; flexible joint robots; jerk

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.