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- W1535365753 abstract "This paper deals with the trajectory planning problem of a 6 DOF serial robot manipulator to achieve a high smooth and efficiency tracking performance, while keeping the angle jerk of each robot joint bounded and continuous. A novel approach combining the acceleration/deceleration (acc/dec) strategy in Cartesian space and multi-degree B-spline interpolation in joint space is proposed. Specially, the efficiency of the motion control is improved by using S-shape acc/dec method, and the boundedness and continuity of velocity, acceleration and jerk for each robot joint is guaranteed by applying the septuple B-spline interpolation in the joint space. Finally, experimental results verify the effectiveness of the proposed method." @default.
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- W1535365753 date "2011-07-22" @default.
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- W1535365753 title "Jerk-bounded and -continuous trajectory planning for a 6-DOF serial robot manipulator with revolute joints" @default.
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