Smooth time optimal trajectory planning for industrial manipulators
This work proposes and demonstrates a strategy for planning smooth path-constrained time-optimal trajectories for manipulators. Such trajectories are obtained by limiting the actuator jerks required by the planned motion. Existing planning strategies incorporate the smoothness requirement either...
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| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/2429/8051 |