This study describes a trajectory planning method based on execution time, acceleration, and jerk to ensure that a glass-handing\nrobot runs smoothly at execution time. The minimised objective function consists of the weighted sum of the square of the\nintegral of the execution time, the integral of the acceleration, and the integral of the jerk, all of which are obtained through the\nweighted coefficientmethod.Athree-dimensional kinematics model of the glass-handing robot is then established and nonuniform\nfifth-order
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