Jerk limited velocity profile generation for high speed industrial robot trajectories

Trapezoidal velocity profiles are no longer sufficient for recent high speed industrial robots involved in precision works. Most of the recently developed trajectory generation algorithms have adopted jerk limited profiles, where computation of the coefficients is intricate. The previous algorithms have attempted either to obtain suboptimal solutions or to solve the problem in an iterative manner which complicates on-line implementation. This paper presents analytic solutions to the computational problem. The solutions presented are derived from the simultaneous equations for displacement condition and peak velocity condition, where jerk, acceleration and velocity constraints are resolved. By including only the low-order polynomial equations that can be evaluated analytically, the proposed algorithm is readily implementable on the fly.