Open access
Aug 2026
Posture-Constrained Workspace Analysis and Flow-Constrained Actuator-Space Time–Jerk Trajectory Planning for Heavy-Duty Hydraulic Demolition Robots
During high-speed multi-joint coordination, the nonlinear joint-to-cylinder mapping may increase the velocity and jerk peaks of the hydraulic cylinders, while simultaneous multi-cylinder motion may cause flow-peak superposition and increase the risk of exceeding the pump-flow limit. Addressing the limitations of tradit...
Chentao Yao, Wendi Dong, Hui Zhang et al.
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