在线考虑运动学限制的最小加速度的轨迹规划

提出了一种基于简化运动规划的机器人轨迹规划新方法，可用于多自由度的机器人操作臂系统。关键问题是找到最小加速度的轨迹规划，来优化操作臂的运动以减少抖动。此外，给出了轨迹规划的解存在的充分必要条件，并考虑了所有的关节位置、角速度、加速度、加加速度等运动学限制。而且这种方法能够在线应用，适合任意非零的关节初始状态和目标状态，以便使机器人能够在运动过程中进行实时路径修正。最后提出的方法应用于一个七自由度的仿人机器人手臂来验证方法的有效性。

Online Minimum-acceleration Trajectory Planning with the Kinematic Constraints

A novel approach based on a type of simplified motion planning(SMP) is presented in this paper to generate online trajectory for manipulator systems with multiple degrees of freedom(DOFs).The key issue is to find minimum-acceleration trajectory planning(MATP) to optimize the arm motion to reduce disturbance.Moreover,necessary and sufficient conditions for solution's existence subject to all the kinematic constraints of joint position,velocity,acceleration and jerk are devised.Besides,this new method can be activated online from the arbitrary initial state to the arbitrary target state so that it enables the robot to change the original path at any time.Finally,the approach is applied to a real humanoid robot arm with seven DOFs to show its efficiency.