Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots
TAN Guan-Zheng
WANG Yue-chao
Abstract：A new method used for time-optimal trajectory planning and control of industrial robots is proposed, which can ensure the motion of a robot's hand along a specified path in Cartesian space has the minimum traveling time under the constraints on the boundary values of joint displacements, velocities, accelerations, and jerks. In this method, the planned joint trajectories are all expressed by a quadratic polynomial plus a cosinoidal function and are continuous not only in displacements, velocities, accelerations but also in jerks. By using the method, a robot's working efficiency can be raised and its life span can be extended. The results of computer simulation and experiment with a Unimate PUMA 560 type robot proves that this method is correct and effective. It provides a better solution to the problem of industrial robot's time-optimal trajectory planning and control under the nonlinear kinematical constraints.
Keywords：industrial robottime-optimaltrajectory planningtrajectory controlquadratic polynomialcosinoidal functionoptimization algorithm
Publication Date：2003-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 185-192 )