The Use of Asymmetric Polynomial Profiles for Planning a Smooth Trajectory

This paper presents planning of smooth trajectories using the asymmetric profiles displacement, velocity, acceleration and jerk described higher degree polynomials. The presented way determination polynomial asymmetry coefficients as well motion time includes procedure at both constraints single kinematic quantities, i.e., acceleration, introducing a few simultaneously. Moreover, method with intermediate points consisting in concatenation analyzed proposed trajectory was compared to that S-curve. results form quantity courses are graphically. discussed guarantees continuity jerk. It can be used for various technical objects (e.g., manipulators, mobile robots, CNC machine tools, optical disk drives, autonomous vehicles, etc.).