Chapter 8 — Motion Control

Different jerk limits of robot-arm trajectories

This video displays the motions of a 6-DOF industrial- robot arm controlled in joint space. The first reference trajectory is not jerk-limited. The second trajectory features a joint jerk limit of 400 deg/s^3 for all six joints, and the third trajectory has a jerk limit of 20 deg/s^3 for all robot joints.
Torsten Kröger
Latitude =52.273030 , Longitude =10.525140    (link to Google Maps)