JERK-CONTINUOUS ONLINE TRAJECTORY PLANNING AND FEEDFORWARD CONTROL FOR FLEXIBLE JOINT ROBOTS, 1-8.

This paper presents a novel seventh-degree polynomial joint space trajectory planning algorithm.This algorithm features continuous jerk, enabling efficient online computation and handling of singular configurations in robotic systems.Furthermore, a fourth-order feedforward controller is implemented to investigate vibration control in flexible joint robots.Comparative experiments demonstrate the proposed trajectory planning algorithm's ability to generate smoother trajectories.The fourth-order feedforward control effectively leverages information from the reference trajectory.The combined approach of the proposed trajectory planning algorithm and fourth-order feedforward control significantly enhances the control performance of flexible joint robots.