Bhanuka Dayawansa

Dynamic Evaluation of Classical and Control-Aware Optimal Trajectory Planning in Robot Manipulators

Bhanuka Dayawansa, Rohan Munasinghe

Trajectory planning strongly influences tracking accuracy, actuator demand, and overall execution behavior in robotic manipulators. Classical planners such as cubic, quintic, and trapezoidal profiles are widely used for their simplicity and smoothness, yet they remain purely kine…Read more