An application of screw theory to the jerk analysis of the PUMA robot

In this paper, the theory of screws is applied to the jerk analysis of the PUMA robot, one of the most popular serial manipulators in history. The higher order kinematic analyses of robot manipulators, such as the acceleration and the jerk, become relevant in improving, among other issues, the performance of robotic manipulators ameliorating the generation of impulsive forces, optimizing the path planning trajectory, reducing the noise, or making it possible to generate smooth trajectories. Numerical applications are provided with the aim to exemplify the versatility of the method of kinematic analysis employed in the contribution. As a consideration for non-experts in the subject, the contribution includes a brief review of the screw theory and its relationship with Plücker coordinates.