A Smooth and Time-Optimal Trajectory Planning Approach for Automated Systems

The discontinuity of jerk value of the traditional S-curve model seriously affects the accuracy and life of the equipment. To address such a problem, this paper proposes a smooth and time-optimal trajectory planning approach. Based on the piecewise trigonometric function, an infinitely differentiable jerk model and a parametric expression of the point-to-point programming algorithm based on this are proposed. The approach is simple in the calculation, can obtain analytical solutions, and can ensure the generated curve is smooth. The effectiveness of the proposed approach is verified through simulation.