Time-Optimal Trajectory Generation of a Fast-Motion Planar Parallel Manipulator

Abstract

This paper proposes time-optimal trajectory generation method for industrial robots. The proposed time-optimal trajectory generation method studies the relationship between the maximum acceleration and the maximum velocity, and presents an algorithm for deriving the optimal trajectory based on this relationship. In order to verify this method, a new planar parallel robotic manipulator with fast motion and high precision is designed. Finally, the proposed method is applied to the designed robot, and the simulation results prove that the method is effective for the industrial robot