Jerk-Bounded Trajectory Generation Method using Digital Convolution

Abstract

This paper proposes a jerk-bounded trajectory generation method using a digital convolution. The suggested jerk-bounded trajectory is able to reduce unexpected damages for a robot motion control system and to improve a tracking accuracy/speed of the control system. Also, it can be implemented in real-time because it requires low computational loads. The effectiveness of the suggested method is shown through numerical simulations for a point-to-point (PTP) motion generation application.