Minimum snap
时间: 2024-01-18 14:03:33 浏览: 28
Minimum snap is a mathematical optimization problem that involves finding the minimum possible jerk trajectory for a given set of initial and final conditions. In robotics, minimum snap is used to plan smooth and efficient trajectories for robot motion.
Jerk is the rate of change of acceleration, and minimizing jerk means minimizing the rate of change of acceleration. This results in smoother and more natural-looking motion for the robot. The minimum snap trajectory is obtained by finding the polynomial function that satisfies the initial and final conditions, and has the smallest possible snap (the rate of change of jerk).
The minimum snap problem is solved using numerical optimization techniques, such as convex optimization or gradient descent. The resulting trajectory can be used to control the motion of the robot, such as in robotic arm movements or autonomous drone flight.