Optimal control of the industrial robot Manutec r3
Computational optimal control
Planning smooth trajectories along parametric paths
ERIS '94 Proceedings of the European conference on Robotics and intelligent systems
Time-jerk synthetic optimal trajectory planning of robot based on fuzzy genetic algorithm
International Journal of Intelligent Systems Technologies and Applications
Optimal trajectory planning for industrial robots
Advances in Engineering Software
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Evolutionary trajectory planning for an industrial robot
International Journal of Automation and Computing
Experimental Validation of Minimum Time-jerk Algorithms for Industrial Robots
Journal of Intelligent and Robotic Systems
Robotics and Computer-Integrated Manufacturing
A simple control policy for achieving minimum jerk trajectories
Neural Networks
Minimum jerk-based control for a three dimensional bipedal robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
A bio-inspired approach for online trajectory generation of industrial robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Robotics and Computer-Integrated Manufacturing
Dissociated jerk-limited trajectory applied to time-varying vibration reduction
Robotics and Computer-Integrated Manufacturing
Information Sciences: an International Journal
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A technique for optimal trajectory planning of robot manipulators is presented in this paper. In order to get the optimal trajectory, an objective function composed of two terms is minimized: a first term proportional to the total execution time and another one proportional to the integral of the squared jerk (defined as the derivative of the acceleration) along the trajectory. This latter term ensures that the resulting trajectory is smooth enough. The proposed technique enables one to take into account kinematic constraints on the robot motion, expressed as upper bounds on the absolute values of velocity, acceleration and jerk. Moreover, it does not require the total execution time of the trajectory to be set a priori. The algorithm has been tested in simulation yielding good results, also in comparison with those provided by another important trajectory planning technique.