Pengxiao Jia, Yifeng Li, and Jianhua Yang
Trajectory planning, feedforward control, flexible joint robots, jerk
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.
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