Time-optimal trajectory planning for a robot system under torque and impulse constraints

摘要

In this paper, moving a fragile object from an initial point to a specific location in the minimum time without damage is studied. In order to achieve this goal, initially, the range of maximum acceleration and velocity are specified, which the manipulator can generate dynamically on the path that is planned a priori considering the geometrical constraints. Later, considering the impulsive force constraint on the object, the range of maximum acceleration and velocity are obtained to keep the object safe while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of acceleration and velocity. This time-optimal trajectory planning can be applied to real applications and is suitable for not only a continuous path but also a discrete path.