Should we forget the jerk limitation in trajectory planning?
Excess jerk excites structural vibrations and increases actuator wear. This motivates the use of a limited jerk.
This Mikroniek article explores whether jerk, the derivative of acceleration, should be limited in trajectory planning for position-controlled mechanical systems. The necessity of incorporating the jerk directly in trajectory planning is questioned by comparing third-order jerk-limited trajectories with second-order trajectories with reduced controller bandwidth that regulate torque gradients. A typical practical application demonstrates that reducing controller bandwidth can achieve comparable or superior jerk reduction without extending overall motion time. (Image courtesy of Robbert van der Kruk)
