Jerk-optimal trajectory planning for Stewart platform in joint space

A technique for jerk-optimal trajectory planning in joint space is presented in this paper. Jerk is the third derivative of joint position of the trajectory, it affects stabilization and efficiency of whole robot system significantly. As Stewart platform has characteristics of high speed and heavy haul, then jerk of every joint should be minimized to get the platform running smoothly and improve the accuracy of movement. In order to get the optimal jerk trajectory, this paper has formulated this as an optimization problem with constraint conditions of kinematic parameters and execution time. Cubic spline has been used to define the trajectory. Simulations based on SQP-F algorithm were conducted and the results showed effectiveness of the approach presented in this paper.