Jerk Constrained Time Optimal Trajectory

Jerk-constrained time-optimal trajectory planning focuses on generating smooth, efficient robot movements by minimizing abrupt changes in acceleration (jerk), while completing the motion as quickly as possible. Current research emphasizes efficient algorithms, such as linear programming and sequential linear programming, and novel approaches like dual-encoder transformer models to accelerate trajectory generation, particularly for complex tasks involving obstacles or singularities. This research is crucial for improving robot performance in various applications, from industrial manipulators and autonomous vehicles to neurorehabilitation, by enhancing safety, energy efficiency, and the quality of movement.