Time-Optimal Trajectory Planning for Adaptive Control of Plane Parallel Robots

摘要

This paper provides an algorithm for time-optimal trajectory planning for plane parallel robots. The approach enhances existing solutions by including a jerklimitation. Furthermore, the algorithm is based on the dynamic parameter linear form of the robot dynamics. Parameter estimates of adaptive controllers can directly be used to adapt the trajectory planning algorithm to changing operating conditions as e.g. varying payloads.