In this paper, experimental verifications of various jerk-limited control designs are presented. The focus is on a large slew maneuver of a flexible spacecraft where the fast and accurate pointing is required at the end of the maneuver. Various control profiles are investigated including input shaping and jerk-limited optimal control profiles, especially to account the effect of jerk in the con...

Rapid arm-reaching movements serve as an excellent test bed for any theory about trajectory formation. How are these movements planned? A minimum acceleration criterion has been examined in the past, and the solution obtained, based on the Euler-Poisson equation, failed to predict that the hand would begin and end the movement at rest (i.e., with zero acceleration). Therefore, this criterion wa...

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance ...

INTRODUCTION Variation in motion between groups of dancers using a commonly performed movement (arabesque) involving coordination of postural control with upper and lower extremity multi-joint movement is presented. Quantitative measurements of “smoothness” and variability were employed in order to evaluate how the control of the arabesque movement varied with increasing skill levels and learni...

It has been recently investigated that the jerk dynamical systems are the simplest ever systems, which possess variety of dynamical behaviours including chaotic motion. Interestingly, the jerk dynamical systems also describe various phenomena in physics and engineering such as electrical circuits, mechanical oscillators, laser physics, solar wind driven magnetosphere ionosphere (WINDMI) model, ...

Catching requires the ability to predict the position and intercept a moving object at relatively high speeds. Because catching is a contact task, it requires an understanding of the interaction between the forces applied and position of the object being captured. The application of force to a mass results in a change in acceleration. The rate of change of acceleration is called jerk. Jerk caus...

In this study, we put forward an Acc/Dec control algorithm based on trapezoid-curve jerk in order to avoid step change in jerk curve. Moreover, the motion profile smooth control approach based on continuous jerk is developed in details to decrease machine tools impact according to various kinematics constraint conditions, such as the maximum acceleration, the maximum jerk, the machining program...

The focus of this paper is on the formalisation of the influence of a jerk-controlled movement law on the vibrations of industrial high-speed systems, i.e. systems for which axes are submitted to significant dynamical demands. Analysis of the physical relationship between the jerk limit and the maximum vibratory amplitude is conducted on a simplified axis drive model that simultaneously account...

The problem of optimal feed-rate planning along a curved tool path for 3-axis CNC machines with a jerk limit for each axis is addressed. We prove that the optimal feed-rate planning must use “Bang-Bang” control, that is, at least one of the axes reaches its jerk bound throughout the motion. As a consequence, the optimal parametric velocity can be expressed as a piecewise analytic function of th...

(2) a. Lucille Gorman, an 84-year-old Chicago housewife, has become amazingly immune to stock-market jolts. [Treebank] b. uh, she starts a new job tomorrow, which should take her out of the house about four days a week. [Switchboard] c. In traffic so heavy that there is no way for the jerk to pass, I might pull over, as if to look for a street number or name, (still ignoring the jerk) just to g...