A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators

A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators

In this paper, we propose a new optimal trajectory planning method for the manipulator to optimize its operating efficiency and ensure the smoothness of the motion process. The position sequences in joint space corresponding to a specified trajectory in task space are obtained by using the inverse k...

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Bibliographic Details
Main Authors: Yaosheng Zhou, Guirong Han, Ziang Wei, Zixin Huang, Xubing Chen
Format: Article
Language:English
Published: MDPI AG 2023-10-01
Series:Applied Sciences
Subjects:
trajectory planning
optimal execution time
continuous jerk
sequential quadratic programming
Online Access:https://www.mdpi.com/2076-3417/13/20/11479

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