Planning time-optimal and smooth trajectories under kinodynamic constraints

• Main Author: Edgar, Leonardo
• Other Authors: Pham Quang Cuong
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Mechanical engineering::Robots
• Online Access: https://hdl.handle.net/10356/150698
• Institution: Nanyang Technological University

Planning a time-optimized, smooth, and collision-free trajectory for robot manipulators subject to kinodynamic constraints is vital to increase the productivity of automation systems in the industry. With the benefit of a recent approach to Time-Optimal Path Parametrization based on Reachability Ana...