軌道計画arXiv:1909.06570
冗長ロボットのための離散時間制約付きジャーク最適化軌道計画
Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots
製造タスク向けに、多数の離散的なウェイポイント制約と運動学的冗長性を扱いながら、ジャークを最適化して加工品質を高める軌道計画手法を提案した。
著者: Chengkai Dai, Sylvain Lefebvre, Kai-Ming Yu, Jo M. P. Geraedts, Charlie C. L. Wang
分類: cs.RO
原文アブストラクト
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.
