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- W4311152018 abstract "This paper presents planning of smooth trajectories using the asymmetric profiles of displacement, velocity, acceleration and jerk of described higher degree polynomials. The presented way of determination of polynomial and asymmetry coefficients as well as motion time includes the procedure at both constraints of single kinematic quantities, i.e., velocity, acceleration, jerk and introducing a few constraints simultaneously. Moreover, the paper presents a method of planning trajectories with intermediate points consisting in concatenation of the analyzed polynomials. The proposed method of trajectory planning was compared to that of using the S-curve. The results in the form of kinematic quantity courses are presented graphically. The discussed method guarantees continuity of displacement, velocity, acceleration and jerk. It can be used for planning trajectories of various technical objects (e.g., manipulators, mobile robots, CNC machine tools, optical disk drives, autonomous vehicles, etc.)." @default.
- W4311152018 created "2022-12-23" @default.
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- W4311152018 date "2022-11-30" @default.
- W4311152018 modified "2023-10-01" @default.
- W4311152018 title "The Use of Asymmetric Polynomial Profiles for Planning a Smooth Trajectory" @default.
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- W4311152018 doi "https://doi.org/10.3390/app122312284" @default.
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