Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk

This study describes a trajectory planning method based on execution time, acceleration, and jerk to ensure that a glass-handing robot runs smoothly at execution time. The minimised objective function consists of the weighted sum of the square of the integral of the execution time, the integral of t...

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Bibliographic Details
Main Authors: Honggang Duan, Rongmin Zhang, Fei Yu, Jun Gao, Yuan Chen
Format: Article
Language:English
Published: Wiley 2016-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2016/9329131
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