On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators
Jee-Eun Lee,Andrew Bylard,Robert Sun,Luis Sentis,Jee-Eun Lee,Andrew Bylard,Robert Sun,Luis Sentis
Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to jerk-constrained time-optimal trajectory planning (TOTP), which follows a specified path while satisfying up to third-order constraints to ensure safety and smooth mo...
