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...
Main Authors: | Zhiwei Fan, Kai Jia, Lei Zhang, Fengshan Zou, Zhenjun Du, Mingmin Liu, Yuting Cao, Qiang Zhang |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2023-04-01
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Series: | Entropy |
Subjects: | |
Online Access: | https://www.mdpi.com/1099-4300/25/4/610 |
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