Smooth trajectory planning for a parallel manipulator with joint friction and jerk constraints

Liang Liu, Chaoying Chen, Xinhua Zhao, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

26 Citations (Scopus)


In order to achieve better tracking accuracy effectively, a new smooth and near time-optimal trajectory planning approach is proposed for a parallel manipulator subject to kinematic and dynamic constraints. The complete dynamic model is constructed with consideration of all joint frictions. The presented planning problem can be solved efficiently by formulating a new limitation curve for dynamic constraints and a reduced form for jerk constraints. The motion trajectory is planned with quartic and quintic polynomial splines in Cartesian space and septuple polynomial splines in joint space. Experimental results show that smaller tracking error can be obtained. The developed method can be applied to any robots with analytical inverse kinematic and dynamic solutions.
Original languageEnglish
Pages (from-to)1022-1036
Number of pages15
JournalInternational Journal of Control, Automation and Systems
Issue number4
Publication statusPublished - 1 Aug 2016
Externally publishedYes


  • Dynamic model
  • joint friction
  • parallel robot
  • time optimization
  • trajectory planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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