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A Cartesian-Based Trajectory Optimization with Jerk Constraints for a Robot

Zhiwei Fan1,2,3, Kai Jia1,2,4, Lei Zhang1,2,4

  • 1State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.

Entropy (Basel, Switzerland)
|May 16, 2023
PubMed

Keywords:
iterative optimizationjerk limitsphase planetime-optimal path parameterizationtime-optimal trajectory planning

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