Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots

This work deals with jerk–continuous trajectory planning for robotic manipulators by means of the fourth-order S-curve to ensure motion smoothness. The algorithm presented in this can cause acceleration and jerk stay a saturated state order improve efficiency robot’s programming operation. Moreover, multi-axis synchronization is proposed integrated enhanced stability terms generated synchronized continuous trajectories, which effectiveness verified both joint Cartesian spaces. does not involve any optimization procedures or iterative processes, as kinematically constrained polynomial equations realize real-time control robots. generate continuity trajectory, rather than only continuity, most reported works.