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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Detalles Bibliográficos
Autores principales: Fan, Zhiwei, Jia, Kai, Zhang, Lei, Zou, Fengshan, Du, Zhenjun, Liu, Mingmin, Cao, Yuting, Zhang, Qiang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10138148/
https://www.ncbi.nlm.nih.gov/pubmed/37190398
http://dx.doi.org/10.3390/e25040610

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10138148/
https://www.ncbi.nlm.nih.gov/pubmed/37190398
http://dx.doi.org/10.3390/e25040610

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