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September 10, 2025MachinesOpen Access

Optimal Time–Jerk Trajectory Planning for Manipulators Based on a Constrained Multi-Objective Dream Optimization Algorithm

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The proposed method achieves optimized trajectory planning by focusing on time and jerk reduction.
Utilizing quintic non-uniform B-splines, the method ensures C4 continuity in joint motions across 6-DOF manipulators.
The optimization involves manipulating time intervals between waypoints to reformulate the trajectory planning problem.
Simulations confirm the method's effectiveness over traditional trajectory planning techniques, indicating significant improvements.

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Proposed method improves motion efficiency and reduces component wear in manipulators, highlighting jerk minimization and smoothness.

Wu et al. (2025) studied this question.

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