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Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints

This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effe...

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Main Authors: Tianyu Liu, Jingkai Cui, Yanhui Li, Siyuan Gao, Mingchao Zhu, Liheng Chen
Format: Artigo
Language:Inglês
Published: MDPI AG 2023-03-01
Series:Sensors
Subjects:
asymmetric S-curve velocity scheduling
trajectory planning
redundant manipulators
whale optimization algorithm
kinematic constraints
Online Access:https://www.mdpi.com/1424-8220/23/6/3074
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