Experimental validation of jerk-minimized trajectory planning in a 4-DOF industrial robotic arm using inverse kinematics with root multiplicity
P. Thimothy·M.V.A. Raju Bahubalendruni·Anil Kumar Inkulu·Jagadeesh Kumar Raghupatruni·Prasanth Kumar Varma Tirumalaraju
Purpose In high-precision industrial robotics, sudden changes in acceleration (jerk) often induce vibrations, increase mechanical wear and compromise accuracy. To address these issues, this study aims to introduce a jerk-minimized trajectory planning framework for a 4-degree-of-freedom (DOF) robotic arm, integrating root multiplicity directly into the inverse kinematics formulation. Design/methodology/approach A hybrid simulation–experimental framework was developed in this study. MATLAB was use