Influence of the motion profile on the performance of a multi-joint robot

This paper deals with the problem of trajectory generation in the joint space, several mathematical functions are used as motion profile. The choice of the motion profile is very important because it affects the performance of the robot. Several factors involved in this choice, but the most important is the smoothness of movement and therefore the continuity of the torque. To see the effect of each motion profile, we developed the dynamic model of the manipulator then we tested some desired trajectories in position, velocity and acceleration for this robot.