# Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots

arXiv: https://arxiv.org/abs/1909.06570 · HTML: https://mlsanity.com/paper/1909.06570/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Sep 2019.

## Built on by (most cited first, 1 of 1)

- [Kinematics-Grounded Agentic AI for Robotic Additive Manufacturing Process Planning](https://mlsanity.com/paper/2609.19347/) (2026)

## Abstract (arXiv)

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also exists in these robotic systems. The jerk of motion is optimized in our trajectory planning method at the meanwhile of fabrication process to improve the quality of fabrication.