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Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots
September 14, 2019 Β· Declared Dead Β· π IEEE Transactions on Automation Science and Engineering
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Authors
Chengkai Dai, Sylvain Lefebvre, Kai-Ming Yu, Jo M. P. Geraedts, Charlie C. L. Wang
arXiv ID
1909.06570
Category
cs.RO: Robotics
Citations
55
Venue
IEEE Transactions on Automation Science and Engineering
Last Checked
5 months ago
Abstract
We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also exists in these robotic systems. The jerk of motion is optimized in our trajectory planning method at the meanwhile of fabrication process to improve the quality of fabrication.
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