Reconstruction of Jerk From a B-Spline Trajectory Using a Low-Pass Filter

Jerk reduction is essential for enhancing the accuracy and stability of operations. To achieve this, B-splines provide a controlled representation of motion trajectories, allowing curve parameters to be adjusted to create smooth transitions between control points. By integrating B-splines with FIR filters, we obtain a smoother and reduced jerk at a low computational cost. This paper presents the reconstruction of a third-order B-spline trajectory, where the acceleration profile is modified using a low-pass filter to ensure smoother motion with minimized jerk. Comparing the filtered and unfiltered trajectories highlights significant differences in the jerk profile, even at low filter orders, while preserving the trajectory's original geometric shape.