Abstract:This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time derivative of acceleration, and this solution provides an indirect means to control the variation rate of the actuator torques, while avoiding the complex robot dynamic models and their algorithms for computing the d… Show more
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