Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots

TL;DR

This paper introduces a trajectory planning method for redundant robots that optimizes jerk while handling complex discrete-time constraints, enhancing fabrication quality in manufacturing tasks.

Contribution

It proposes a novel jerk-optimized trajectory planning approach that accounts for discrete-time constraints and redundancy in robotic systems.

Findings

Improved fabrication quality through jerk optimization.

Effective handling of complex discrete-time constraints.

Applicable to manufacturing tasks with redundant robots.

Abstract

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also exists in these robotic systems. The jerk of motion is optimized in our trajectory planning method at the meanwhile of fabrication process to improve the quality of fabrication.