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

To address the time-optimal trajectory planning (TOTP) problem with joint jerk constraints in a Cartesian coordinate system, we propose a time-optimal path-parameterization (TOPP) algorithm based on nonlinear optimization. The key insight of our approach is the presentation of a comprehensive and ef...

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Vydáno v:Entropy (Basel, Switzerland) Ročník 25; číslo 4; s. 610
Hlavní autoři: Fan, Zhiwei, Jia, Kai, Zhang, Lei, Zou, Fengshan, Du, Zhenjun, Liu, Mingmin, Cao, Yuting, Zhang, Qiang
Médium: Journal Article
Jazyk:angličtina
Vydáno: Switzerland MDPI AG 03.04.2023
MDPI
Témata:
Algorithms
Analysis
Cartesian coordinates
Constraint satisfaction
Control
Design and construction
Iterative methods
iterative optimization
jerk limits
Kinematics
Lie groups
Linear programming
Mathematical optimization
Mechanical properties
Methods
Optimal control
Optimization
Parameterization
phase plane
Robotics
Robots
time-optimal path parameterization
time-optimal trajectory planning
Trajectory optimization
Trajectory planning
Velocity
China
phase plane
iterative optimization
jerk limits
time-optimal path parameterization
time-optimal trajectory planning
ISSN:1099-4300, 1099-4300
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Shrnutí:To address the time-optimal trajectory planning (TOTP) problem with joint jerk constraints in a Cartesian coordinate system, we propose a time-optimal path-parameterization (TOPP) algorithm based on nonlinear optimization. The key insight of our approach is the presentation of a comprehensive and effective iterative optimization framework for solving the optimal control problem (OCP) formulation of the TOTP problem in the (s,s˙)-phase plane. In particular, we identify two major difficulties: establishing TOPP in Cartesian space satisfying third-order constraints in joint space, and finding an efficient computational solution to TOPP, which includes nonlinear constraints. Experimental results demonstrate that the proposed method is an effective solution for time-optimal trajectory planning with joint jerk limits, and can be applied to a wide range of robotic systems.
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ISSN:1099-4300
1099-4300
DOI:10.3390/e25040610