Résumé:
This paper presents a novel approach to generate online jerk-limited trajectories for multi-DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low
computational cost acceleration-limited profiles into jerk-limited profiles. Starting from a new setpoint, e.g. an event given by external sensors, and an arbitrary state of motion, i.e. with nonzero initial velocity and acceleration values, the proposed method can generate different shapes of jerk profile, including timeoptimal and fixed-time jerk-limited trajectories. A new definition of the velocity, acceleration and jerk kinematic limits can be
instantaneously taken into account during the motion. Moreover, the very low calculation time (less than 1 microsecond) makes it
possible to easily control a multi-DOF system during one control
cycle (classically about 1 millisecond), while preserving time
for other computer processing. The algorithm is experimentally
tested on the new 7-DOF industrial robot KUKA LWR iiwa.