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140 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 47, NO. 1, FEBRUARY 2000 Global Minimum-Jerk Trajectory Planning of Robot Manipulators Aurelio Piazzi, Member, IEEE, and Antonio Visioli, Member, IEEE Abstract—A new approach based on interval analysis is devel- acceleration [1] and prevent large oscillations of the trajectory oped to find the global minimum-jerk (MJ) trajectory of a robot which can result with higher order polynomials. In this frame- manipulator within a joint space scheme using cubic splines. MJ work, the total motion time can be minimized subject to con- trajectories are desirable for their similarity to human joint move- ments and for their amenability to path tracking and to limit robot straints on velocities, accelerations, and jerks [1], [2]. vibrations. This makes them attractive choices for robotic appli- If the traveling time is determined by the operative context cations, in spite of the fact that the manipulator dynamics is not (e.g., due to time constraints in automated robotic cells), an in- taken into account. Cubic splines are used in a framework that as- teresting approach is to minimize the jerk. The importance of sures overall continuity of velocities and accelerations in the robot minimizing the jerk in trajectory planning is primarily due to movement. The resulting MJ trajectory planning is shown to be a global constrained minimax optimization problem. This is solved the fact that joint position errors decrease when the jerk de- by a newly devised algorithm based on interval analysis and proof creases, as asserted by Kyriakopoulos and Saridis, who pro- of convergence with certainty to an arbitrarily good global solu- posed the formulation of an analytic solution for minimum-jerk tion is provided. The proposed planning method is applied to an (MJ) point-to-point trajectories [3]. Moreover, MJ joint trajecto- example