An on-line robot trajectory planning algorithm in joint space with continuous accelerations

This paper presents a novel trajectory planning method in robot joint space, which poses several good properties for the robot motion control. Firstly, it provides the continuity of accelerations on all segments of the planned trajectory by combining quintic and quartic polynomials. Secondly, it can deal with path points with or without velocities and accelerations, which may be very useful, especially when robot is at singular configurations. Finally, it can be applied to both on-line tasks and off-line tasks by looking ahead one or two path points. Simulation results of this method and other trajectory planning methods are also presented for the purpose of comparison.