Minimum-time trajectory planning of a robot manipulator with an arbitrary path for conveyor tracking

컨베이어 추적을 위한 로봇 매니퓰레이터의 임의의 경로에 대한 최소시간 궤적계획

In this paper, the problem of minimum-time trajectory planning of a robot manipulator with an arbitrary path is dealt. As for a straight path, the trajectory planning can be done without difficulty since the path is easily parameterized by its length. However, this is not the case for a non-straight path. In this paper, by noting that the others' joint angles and velocities are determined if one joint's angle and velocity are known, we reduce the problem of trajectory planning on a non-straight path to one in the 2-dimensional space of one joint's angle and velocity. Then, by applying the dynamic programming, we achieve the minimum-time trajectory planning. A simulation is done for verifying this.