Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints
Jianjie Lin,Markus Rickert,Alois Knoll,Jianjie Lin,Markus Rickert,Alois Knoll
This paper presents two different approaches to generate a time local-optimal and jerk-limited trajectory with blends for a robot manipulator under consideration of kinematic constraints. The first approach generates a trajectory with blends based on the trapezoidal acceleration model by formulating the problem as a nonlinear constraint and a non-convex optimization problem. The resultant trajecto...
