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Time-Jerk Optimal Robotic Trajectory Planning Under Jerk and Continuity Constraints via Convex Optimization

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Опубликовано в::Actuators vol. 14, no. 6 (2025), p. 272
Главный автор: Chen, Qian
Другие авторы: Yao Jianjun, Zhang, Yikun
Опубликовано:
MDPI AG
Предметы:
Scheduling
Kinematics
Velocity
Dynamic programming
Smoothness
Trajectory optimization
Convexity
Optimization
Spline functions
Robots
Path tracking
Convex analysis
Linear programming
Methods
Constraints
Trajectory planning
Efficiency
Optimization models
Robotics
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Краткий обзор:This paper proposes a robot trajectory planning method focused on time and jerk optimization under compound constraints. First, the robot path-tracking task is parameterized by incorporating both kinematic and dynamic constraints in joint and Cartesian spaces, establishing a time-optimal trajectory optimization model. To achieve C3 continuity in joint motion, joint-motion continuity conditions are analyzed, and optimization variables are reconstructed using piecewise cubic splines with corresponding continuity constraints. Considering the nonlinear and nonconvex characteristics of jerk constraints, the time-optimal planning model is decomposed into two second-order cone programming (SOCP) subproblems, achieving linear convexification of the original problem. Additionally, the objective function is improved to optimize both time and joint jerk simultaneously. Experimental results confirm that the proposed method effectively improves robot efficiency and trajectory smoothness.
ISSN:2076-0825
DOI:10.3390/act14060272
Источник:Advanced Technologies & Aerospace Database