Should we forget the jerk limitation in trajectory planning?:Reduced motion control bandwidth vs third order jerk profiles

Excess jerk excites structural vibrations and increases actuator wear, motivating the use of a limited jerk. This 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.