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Time-jerk optimal trajectory planning of a 7-DOF redundant robot
2017
Turkish Journal of Electrical Engineering and Computer Sciences
In order to improve the efficiency and smoothness of a robot and reduce its vibration, an algorithm called the augmented Lagrange constrained particle swarm optimization (ALCPSO), which combines constrained particle swarm optimization with the augmented Lagrange multiplier method to realize time-jerk (defined as the derivative of the acceleration) optimal trajectory planning is proposed. Kinematic constraints such as joint velocities, accelerations, jerks, and traveling time are considered. The
doi:10.3906/elk-1612-203
fatcat:v3br4xalcvcphppgtya6ps5w3m