A Cartesian-Based Trajectory Optimization with Jerk Constraints for a Robot

A Cartesian-Based Trajectory Optimization with Jerk Constraints for a Robot

To address the time-optimal trajectory planning (TOTP) problem with joint jerk constraints in a Cartesian coordinate system, we propose a time-optimal path-parameterization (TOPP) algorithm based on nonlinear optimization. The key insight of our approach is the presentation of a comprehensive and ef...

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Bibliographic Details
Main Authors: Zhiwei Fan, Kai Jia, Lei Zhang, Fengshan Zou, Zhenjun Du, Mingmin Liu, Yuting Cao, Qiang Zhang
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Entropy
Subjects:
time-optimal trajectory planning
iterative optimization
jerk limits
time-optimal path parameterization
phase plane
Online Access:https://www.mdpi.com/1099-4300/25/4/610

Internet

https://www.mdpi.com/1099-4300/25/4/610

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