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A Cartesian-Based Trajectory Optimization with Jerk Constraints for a Robot.
- Source :
-
Entropy . Apr2023, Vol. 25 Issue 4, p610. 21p. - Publication Year :
- 2023
-
Abstract
- 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 effective iterative optimization framework for solving the optimal control problem (OCP) formulation of the TOTP problem in the (s , s ˙) -phase plane. In particular, we identify two major difficulties: establishing TOPP in Cartesian space satisfying third-order constraints in joint space, and finding an efficient computational solution to TOPP, which includes nonlinear constraints. Experimental results demonstrate that the proposed method is an effective solution for time-optimal trajectory planning with joint jerk limits, and can be applied to a wide range of robotic systems. [ABSTRACT FROM AUTHOR]
- Subjects :
- *TRAJECTORY optimization
*CARTESIAN coordinates
*ROBOTS
Subjects
Details
- Language :
- English
- ISSN :
- 10994300
- Volume :
- 25
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- Entropy
- Publication Type :
- Academic Journal
- Accession number :
- 163384862
- Full Text :
- https://doi.org/10.3390/e25040610