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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Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
Wiley
2016-01-01
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Series: | Journal of Robotics |
Online Access: | http://dx.doi.org/10.1155/2016/9329131 |
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