Time-Jerk Optimal Trajectory Planning for a 7-DOF Redundant Robot Using the Sequential Quadratic Programming Method.

In order to improve the efficiency and trajectory tracking accuracy of a robot and reduce its vibration, this paper uses the sequential quadratic programming (SQP) method to perform time-jerk (defined as the derivative of the acceleration) optimal trajectory planning on a 7-degrees-of-freedom (DOF) redundant robot. Kinematic constraints such as joint velocities, accelerations, jerks, and traveling time are considered. When utilizing the SQP method, the initial input is set as average time intervals, and the output is optimal time intervals. Trajectory planning simulations in joint space are performed with optimal time intervals, the results showed that the SQP method is effective and feasible for improving working efficiency and decreasing vibration.