Zeinel Momynkulov1,2, Azhar Tursynova1,2,*, Olzhas Olzhayev1,2, Akhanseri Ikramov1,2, Sayat Ibrayev1, Batyrkhan Omarov1,2,3,*
CMES-Computer Modeling in Engineering & Sciences, Vol.145, No.1, pp. 891-918, 2025, DOI:10.32604/cmes.2025.068615
- 30 October 2025
Abstract Robotic manipulators increasingly operate in complex three-dimensional workspaces where accuracy and strict limits on position, velocity, and acceleration must be satisfied. Conventional geometric planners emphasize path smoothness but often ignore dynamic feasibility, motivating control-aware trajectory generation. This study presents a novel model predictive control (MPC) framework for three-dimensional trajectory planning of robotic manipulators that integrates second-order dynamic modeling and multi-objective parameter optimization. Unlike conventional interpolation techniques such as cubic splines, B-splines, and linear interpolation, which neglect physical constraints and system dynamics, the proposed method generates dynamically feasible trajectories by directly optimizing over acceleration inputs while… More >
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