Constrained motion planning for industrial robots

摘要

In this paper, a motion planning algorithm for robot manipulators is presented. Due to physical constraints, the robot manipulators are prone to several limitations such as, e.g., the maximum torque at joints; in addition, task-oriented constraints are given by, e.g., the requirement to respect a given path even in presence of saturations. The algorithm developed approaches the motion planning algorithm from a wide perspective, solving the joint as well as the Cartesian motion, both for the point-to-point and the fly movements, according to several, severe, constraints. An extensive testing phase, both via numerical simulation and experiments, using the current constraints, has been performed leading to excellent results.