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Document type:
Konferenzbeitrag 
Author(s):
Lin, Jianjie; Somani, Nikhil; Hu, Biao; Rickert, Markus; Knoll, Alois 
Title:
An Efficient and Time-Optimal Trajectory Generation Approach for Waypoints under Kinematic Constraints and Error Bounds 
Abstract:
This paper presents an approach to generate the time-optimal trajectory for a robot manipulator under certain kinematic constraints such as joint position, velocity, acceleration, and jerk limits. This problem of generating a trajectory that takes the minimum time to pass through specified waypoints is formulated as a nonlinear constraint optimization problem. Unlike prior approaches that model the motion of consecutive waypoints as a Cubic Spline, we model this motion with a seven-segment accel...    »
 
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2018 
Month:
Oct