Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2019
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| _version_ | 1866914064959012864 |
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| author | Dai, Chengkai Lefebvre, Sylvain Yu, Kai-Ming Geraedts, Jo M. P. Wang, Charlie C. L. |
| author_facet | Dai, Chengkai Lefebvre, Sylvain Yu, Kai-Ming Geraedts, Jo M. P. Wang, Charlie C. L. |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1909_06570 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots Dai, Chengkai Lefebvre, Sylvain Yu, Kai-Ming Geraedts, Jo M. P. Wang, Charlie C. L. Robotics 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. |
| title | Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/1909.06570 |