Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts

@article{Hauser2010FastSO,
  title={Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts},
  author={Kris K. Hauser and Victor Ng-Thow-Hing},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={2493-2498}
}
This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration bounds. The heuristic repeatedly picks two points on the trajectory and attempts to replace the intermediate trajectory with a shorter, collision-free segment. Here, we construct segments that interpolate between endpoints with specified velocity in a time-optimal fashion, while respecting velocity and acceleration bounds… CONTINUE READING

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