Time-Jerk Optimal Robotic Trajectory Planning Under Jerk and Continuity Constraints via Convex Optimization

Time-Jerk Optimal Robotic Trajectory Planning Under Jerk and Continuity Constraints via Convex Optimization

This paper proposes a robot trajectory planning method focused on time and jerk optimization under compound constraints. First, the robot path-tracking task is parameterized by incorporating both kinematic and dynamic constraints in joint and Cartesian spaces, establishing a time-optimal trajectory...

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Bibliographic Details
Main Authors: Chen Qian, Jianjun Yao, Yikun Zhang
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Actuators
Subjects:
robot trajectory planning
time and jerk optimal
jerk constraint
continuity constraint
second-order cone programming
Online Access:https://www.mdpi.com/2076-0825/14/6/272
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