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Journal of Robotics
Volume 2013, Article ID 735958, 6 pages
Research Article

Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial

Department of Mechanical Engineering, Ohio University, Athens, OH 45701, USA

Received 3 December 2012; Revised 30 January 2013; Accepted 31 January 2013

Academic Editor: Gordon R. Pennock

Copyright © 2013 Robert L. Williams. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents novel fourth- and sixth-order polynomials to solve the problem of joint-space trajectory generation with a via point. These new polynomials use a single-polynomial function rather than two-polynomial functions matched at the via point as in previous methods. The problem of infinite spikes in jerk is also addressed.