{"title":"Comparison between Minimum Direct and Indirect Jerks of Linear Dynamic Systems","authors":"Tawiwat Veeraklaew, Nathasit Phathana-im, Songkit Heama","country":null,"institution":"","volume":13,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":1,"pagesEnd":6,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/12200","abstract":"Both the minimum energy consumption and\r\nsmoothness, which is quantified as a function of jerk, are generally\r\nneeded in many dynamic systems such as the automobile and the\r\npick-and-place robot manipulator that handles fragile equipments.\r\nNevertheless, many researchers come up with either solely\r\nconcerning on the minimum energy consumption or minimum jerk\r\ntrajectory. This research paper proposes a simple yet very interesting\r\nrelationship between the minimum direct and indirect jerks\r\napproaches in designing the time-dependent system yielding an\r\nalternative optimal solution. Extremal solutions for the cost functions\r\nof direct and indirect jerks are found using the dynamic optimization\r\nmethods together with the numerical approximation. This is to allow\r\nus to simulate and compare visually and statistically the time history\r\nof control inputs employed by minimum direct and indirect jerk\r\ndesigns. By considering minimum indirect jerk problem, the\r\nnumerical solution becomes much easier and yields to the similar\r\nresults as minimum direct jerk problem.","references":null,"publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 13, 2008"}