Sigmoid angle-arc curves: Enhancing robot time-optimal path parameterization for high-order smooth motion

• Published in: Robotics and computer-integrated manufacturing Vol. 92; p. 102884
• Main Authors: Zhao, Shize, Zheng, Tianjiao, Wang, Chengzhi, Yang, Ziyuan, Xu, Tian, Zhu, Yanhe, Zhao, Jie
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.04.2025
• Subjects: Analytical arc-length; Corner smoothing; Euler spiral; Time-optimal trajectory planning; Torque limits; Euler spiral; Corner smoothing; Torque limits; Time-optimal trajectory planning; Analytical arc-length

Trajectory planning is crucial in the motion planning of robots, where finding the time-optimal path parameterization (TOPP) of a given path subject to kinodynamic constraints is an important component of trajectory planning. The tangential discontinuity at the intersection of continuous line segmen...