Smooth motion control of rigid robotic manipulators with constraints on high-order kinematic variables

Yu-Shen Lu, Yi Yi Lin

Research output: Contribution to journalArticle

5 Citations (Scopus)


This paper presents a design for a jerk-constrained, time-optimal controller (JCTOC) that allows the smooth control of rigid robotic manipulators, in which time-optimal output responses are attained with confined jerk. A snap-constrained, time-optimal control (SCTOC) scheme is also proposed to produce even smoother output responses that are time-optimal, with a constraint on the maximum admissible snap. In contrast to conventional path-planning approaches that involve a bounded jerk/snap, the proposed JCTOC and SCTOC practically limit the corresponding high-order kinematic variables in real time. Using the structure of the computed torque control, the PD control, the JCTOC and the SCTOC are experimentally compared in terms of specific performance indices, including a chatter index, which is used to measure the unevenness of a signal.

Original languageEnglish
Pages (from-to)11-25
Number of pages15
Publication statusPublished - 2018 Feb 1



  • Jerk constraint
  • Robotic manipulator
  • Smooth motion
  • Snap constraint
  • Time-optimal control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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