A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators

Round 1

Reviewer 1 Report

1) Introduction section is incomplete and seems that has been abandoned suddenly. Consider providing a list of contributions and provide sufficient evidences to support your claim. Also, provide a brief outline of the manuscript. 

 

2) I failed to understand the rationale behind equations (6)-(8). Why control actions are set to zero/one for time 0,...,n+2k?

 

3) Literature review is poor and needs to be improved. For instance, the authors could discuss the following articles to state the art on trajectory planning for robots:
[R1]. "Time-optimal and Smooth Trajectory Planning for Robot Manipulators", 2021. [https://doi.org/10.1007/s12555-019-0703-3]

[R2]. "Constrained Control of UAVs in Geofencing Applications", 2018. [http://doi.org/10.1109/MED.2018.8443035]
[R3]. "An ethical trajectory planning algorithm for autonomous vehicles", 2023. [https://doi.org/10.1038/s42256-022-00607-z]

 

4) How can one ensure that the final optimization problem is convex? That is, it has a global and unique optimal solution. 

 

5) This manuscript lacks a proper comparison study. The authors should compare their method with a state-of-the-art method; this would help the readers to understand pros and cons of the proposed method. 

Acceptable. 

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

Dear Editor, the paper entitled 'A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators' is mainly about improving controller performance of a manipulator in specified trajectory. I believe that the paper is well-organized and written. The mathematical formulations are well presented and the results presented in the figures have significant importance for the vehicle manufacturer. After minor revisions, the paper can be accepted for publication in your journal.

-The main contribution and orjinalty of the paper should be emphases. 

-The error between objevtives and results should be given.

-The used optimization method in the paper is the multi-objective particle swarm optimization (MOPSO) algorithm. How about other optimization method performance? Is there any possibiliyt to compare the performance MOPSO with other optimization methods such as DE or GA similiar to [1]?

-In the paper, the type of controller should be explain more clearly. The paper [2] can be helpful.

-Besides, the introduction part can be improved since a wide literature is available. 

[1]Parametric synthesis of two different trunk lid mechanisms for sedan vehicles using population-based optimisation algorithms A Yildiz Mechanism and Machine Theory 156 (2), 104130, 2021

[2]Optimal Design of a Five-Bar Planar Manipulator and Its Controller by Using Different Algorithms for Minimum Shaking Forces and Moments for the Largest Trajectory in a Usable Workspace, Machines 10 (11), 971, 2022

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 3 Report

The submitted manuscript presents an investigation of proposed new optimal trajectory planning method for the manipulator. The authors put some effort into validating their models and comparing their simulation results with theoretical part. However, the means for the investigation are not properly described and this should be improved.

1.      The main concern about this manuscript that the discussion part is almost non-existent. It must be completed in such a way as to highlight more clearly the theoretical part comparison to the simulation results and to draw some conclusions from the discussion part given in manuscript.

2.      The conclusions can be addressed with future research directions.

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Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

No further comment. 

Acceptable. 

Reviewer 3 Report

The authors have made changes according to my suggestions. 

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