Authors :
M.H.P.L Jayarathne; J.A.K.S. Jayasinghe
Volume/Issue :
Volume 8 - 2023, Issue 10 - October
Google Scholar :
https://tinyurl.com/4h9zr8zb
Scribd :
https://tinyurl.com/bdvrbdws
DOI :
https://doi.org/10.5281/zenodo.10088579
Abstract :
Robotic systems are now used across various
domains. Generating a precise, efficient, and time-
optimal motion profile is a challenge. A point-to-point
trajectory generation method under joint constraints,
specifically addressing factors such as joint limits,
velocity limits, acceleration limits, and jerk limits, while
ensuring the safety and feasibility of the robot’s
movement is presented. Such a trajectory can be taken
as the basis for creating more efficient trajectories by
combining the motion profiles of intermediate
waypoints where the robot can continue its trajectory
without any stops. We comprehensively explore the
minimum-time point-to-point trajectory generation
problem, by calculating the maximum permissible
velocity, acceleration, and jerk for each join.
Robotic systems are now used across various
domains. Generating a precise, efficient, and time-
optimal motion profile is a challenge. A point-to-point
trajectory generation method under joint constraints,
specifically addressing factors such as joint limits,
velocity limits, acceleration limits, and jerk limits, while
ensuring the safety and feasibility of the robot’s
movement is presented. Such a trajectory can be taken
as the basis for creating more efficient trajectories by
combining the motion profiles of intermediate
waypoints where the robot can continue its trajectory
without any stops. We comprehensively explore the
minimum-time point-to-point trajectory generation
problem, by calculating the maximum permissible
velocity, acceleration, and jerk for each join.
