Optimal time-jerk trajectory planning for industrial robots

• Published in: Mechanism and machine theory Vol. 121; pp. 530 - 544
• Main Authors: Huang, Junsen, Hu, Pengfei, Wu, Kaiyuan, Zeng, Min
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.03.2018
• Subjects: 5th-order B-spline; Multi-objective optimization; NSGA-II; Robotic manipulator; Time-jerk optimal trajectory; NSGA-II; Multi-objective optimization; Robotic manipulator; Time-jerk optimal trajectory; 5th-order B-spline

•A methodology for obtaining optimal time-jerk trajectory of robot manipulator is proposed. The methodology applies 5th-order B-spline interpolation method to construct the trajectory and optimizes the trajectory with NSGA-II algorithm.•Two virtual points are introduced in the process of B-spline mo...