System and method for jerk limited trajectory planning for a path planner

A system for generating a motion profile in real time, the system comprising:

• at least one input/output module configured to receive command signals;
• and
• a processor, the processor configured to:
• transmit the command signals based upon the motion profile;
• break a move into a first phase and a second phase;
• calculate a point at which the second phase must take control of a move in progress in order to reach a target position;
• calculate a jerk value required to successfully reach end conditions for a current sample period (Jn);
• calculate a jerk value required to successfully reach the end conditions for a next sample period (Jn+1);
• and
• compare the calculated jerk value required for the current sample period (Jn) and the calculated jerk value required for the next sample period (Jn+1) to a commanded jerk value (Jc).

A method for generating a motion profile in real time, the method comprising:

• breaking a move into a first phase and a second phase;
• commanding the move toward a constant velocity segment during the first phase;
• monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions;
• calculating a jerk value required to successfully reach the end conditions for a current sample period (Jn);
• calculating a jerk value required to successfully reach the end conditions for a next sample period (Jn+1);
• and
• comparing the calculated jerk value required for the current sample period (Jn) and the calculated jerk value required for the next sample period (Jn+1) to a commanded jerk value (Jc).