Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints

This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effe...

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Vydáno v:	Sensors (Basel, Switzerland) Ročník 23; číslo 6; s. 3074
Hlavní autoři:	Liu, Tianyu, Cui, Jingkai, Li, Yanhui, Gao, Siyuan, Zhu, Mingchao, Chen, Liheng
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Switzerland MDPI AG 13.03.2023 MDPI
Témata:	Algorithms Analysis asymmetric S-curve velocity scheduling Control algorithms Efficiency kinematic constraints Kinematics Linear programming Liu, Timothy Mathematical optimization Motion control Optimization redundant manipulators Robots Scheduling trajectory planning Velocity whale optimization algorithm whale optimization algorithm redundant manipulators asymmetric S-curve velocity scheduling kinematic constraints trajectory planning
ISSN:	1424-8220, 1424-8220
On-line přístup:	Získat plný text
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