Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints
Jianjie Lin Markus Rickert Alois Knoll Jianjie Lin Markus Rickert Alois Knoll
This paper presents two different approaches to generate a time local-optimal and jerk-limited trajectory with blends for a robot manipulator under consideration of kinematic constraints. The first approach generates a trajectory with blends based on the trapezoidal acceleration model by formulating the problem as a nonlinear constraint and a non-convex optimization problem. The resultant trajecto...