Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints

This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effe...

Descripción completa

Detalles Bibliográficos
Autores principales: Liu, Tianyu, Cui, Jingkai, Li, Yanhui, Gao, Siyuan, Zhu, Mingchao, Chen, Liheng
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10052581/
https://www.ncbi.nlm.nih.gov/pubmed/36991787
http://dx.doi.org/10.3390/s23063074

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10052581/
https://www.ncbi.nlm.nih.gov/pubmed/36991787
http://dx.doi.org/10.3390/s23063074

Ejemplares similares