Optimized tracjectory planning algorithm for industrial robot

Abstract

One effective trajectory planning algorithm for industrial robot manipulator is introduced in this paper. Both the running velocity and time are normalized. With the known trajectory in the Cartesian space, some initial constraints are given, such as the initial and final position, velocity. One cubic polynomial is deduced when fitting the joint trajectory. Three DOF robot is established when testifying the algorithm by simulation. The results verified the effectiveness and feasibility of the algorithm, it can be used into the industrial manipulator without many changing.