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Document type:
Konferenzbeitrag 
Author(s):
Lin, Jianjie; Rickert, Markus; Knoll, Alois 
Title:
Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints 
Abstract:
This paper presents two different approaches to generate a time local-optimal and jerk-limited trajectory with blends for a robot manipulator under consideration of kinematic constraints. The first approach generates a trajectory with blends based on the trapezoidal acceleration model by formulating the problem as a nonlinear constraint and a non-convex optimization problem. The resultant trajectory is locally optimal and approximates straight-line movement while satisfying the robot manipulator...    »
 
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 
Year:
2021 
Month:
Jun