Advanced Robotics for Medical Rehabilitation by Shane (S.Q.) Xie

Author:Shane (S.Q.) Xie
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

(6.11)

(6.12)

(6.13)

The first three constants are obtained from the initial conditions

(6.14)

(6.15)

(6.16)

The last three constants are determined from the terminal conditions

(6.17)

(6.18)

(6.19)

In matrix form

(6.20)

(6.21)

The six constants are then substituted into (6.11), (6.12) and (6.13) to obtain the minimum jerk trajectory in position, velocity and acceleration, respectively.

Figure 6.1 shows an example of the minimum jerk trajectory for the 1-DOF elbow joint. In this example, the joint starts in a stationary position and rotates for 2 s to stop at the 90° position.

Fig. 6.1Trajectory graphs in displacement, velocity, acceleration and jerk for the minimum jerk trajectory of the 1-DOF elbow joint moving from 0 to 90° in 2 s with a stationary start and end

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