Smooth and Time Optimal Trajectory Planning for Industrial Robot Using a Single Polynomial
This paper proposes a method for smoothing and optimizing trajectory in robotics. The trajectory in the joint space with the constraints of velocity, acceleration and jerk is interpolated by a single polynomial and the traveling time is then minimized by sequential quadratic programming algorithm. The proposed approach is performed on an industrial robot and results are compared with another planning method. The results show that the single polynomial makes the trajectory simple because only one interpolation polynomial is used while the continuity conditions of the trajectory, velocity, acceleration and jerk are simultaneously satisfied. Additionally, the optimized traveling time is also obtained.
KeywordsTrajectory planning Single polynomial Time optimal trajectory Sequential quadratic programming
This research was supported by the Ministry of Science and Technology of Taiwan under Contract Nos. MOST 107-2221-E-035-074-MY3 and MOST 107-2218-E-035-016.
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