Time-optimal parabolic interpolation with velocity, acceleration, and minimum-switch-time constraints

• Main Authors: Lertkultanon, Puttichai, Pham, Quang-Cuong
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2016
• Subjects: Parabolic trajectories; shortcutting
• Online Access: https://hdl.handle.net/10356/84597; http://hdl.handle.net/10220/41881
• Institution: Nanyang Technological University

Time-optimal trajectories with bounded velocities and accelerations are known to be parabolic, i.e. piecewise constant in acceleration. An important characteristic of this class of trajectories is the distribution of the switch points – the time instants when the acceleration of any robot joint chan...