Time-optimal and jerk-continuous trajectory planning for robot manipulators with kinematic constraints

Industrial robot trajectory optimization- a review

“…The hybrid optimization criterion minimum time and continuous jerk is applied in a study by H. Liu, X. Lai and W. Wu [49] for obtaining efficient and smooth motions for the robot. In another studies by the same type, the criterion applied is: time-optimal and jerkbounded for a pick and place operation, by S. Perumaal and N. Jawahar [50]; time-jerk optimal, taking into account more constraints: the joints' velocity, acceleration and jerk by A. Gasparetto and V. Zanotto [51], A. Gasparetto, A. Lanzutti, R. Vidoni and V. Zanotto [52], and the heavy payload and high speed handling, F. Liu, F. Lin [53].…”

“…In some cases these points must be strictly visited, in other cases, we are dealing with pseudo-via-points not intended to be strictly visited, but the passing is effected by their immediate vicinity. In this respect, H. Liu, X. Lai and W. Wu [64] sustain that the robot must follow exactly the path of the end effector and its laws of motion, and viapoints must be strictly visited, without any deviation, to obtain an optimal trajectory. In opposition to this opinion, S. Alatartsev, A. Belov, M. Nykolaychuk and F.…”

An Efficient Inverse Kinematic Algorithm for a PUMA560-Structured Robot Manipulator

“…To testify to the real-time performance of the proposed IK algorithm, we firstly sampled 681 discrete points from a closed-curve called QS Eagle referred to in [12], and recorded the three-dimensional coordinate of each point, then put them into the pose matrix of the end-effector, after getting these 681 samples of pose matrices. With the proposed method in this paper, (called "Ours"), the inverse transformation method in [4] (called "ITM") and the vector-dot-product-based approach in [5] (called "VDP"), we solved out the IK solutions of each given pose matrix respectively, in the VC++ compiling environment on a notebook computer platform (Windows XP 32-bit SP3 OS, Intel Core 2 Duo Dual 2.2GHz CPU, 2GB DDR3 800MHz RAM) for 500 times with an accuracy of 0.00000001°.…”

A 6-DOF robot-time optimal trajectory planning based on an improved genetic algorithm

“…The method of optimal trajectory planning generally includes time optimal trajectory planning [1][2][3], energy minimum trajectory planning [3,4] and impact minimum trajectory planning [5], or multi-objective trajectory optimization combining these estimation schemes. Among them, the optimal trajectory planning with the robot running time as main consideration is favored by many scholars.…”