Abstract This paper proposes a piecewise accelerationoptimal and smooth-jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both the time intervals between two interpolation points and the control points of B-spline function as optimal variables, redefine the kinematic constraints as the constraints of optimal variables, and reformulate the objective function in matrix form. The feasibility of the optimal method is illustrated by simulation and experimental results with pan mechanism for cooking robot.
Chen and Li REF employed acceleration and smooth jerk constraints to determine an optimal solution and transforming Kinematics constraints into the limitations on the optimal variables to reformulate the objective function in a matrix form; however, the model neglects the effect of robot dynamics.
A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path
International Journal of Advanced Robotic Systems
Computer Science