A minimum-time trajectory planning for dual robot system using running start

초기속도 부가에 의한 두 대의 로보트 시스템의 최소시간 경로계획

A velocity planning method is proposed that ensures collision-free and minimal delay-time motions for two robotic manipulators and auxiliary equipments. Additional path, which makes robot start with possible largest speed, is added to the original prescribed path of one of two robots, and this running start along the additional path reduces delay time introduced to avoid collision between the robots and therefore reduces total traveling time.