An explicit approach for time‐optimal trajectory planning for kinematically redundant serial robots

Abstract

Kinematically redundant serial robots have become industrially important due their increased workspace and their inherent capability of null space motion resulting in remarkable adaptiveness to specific tasks compared to conventional, non-redundant manipulators. Attempting to increase the cost-effectiveness of industrial processes, introducing minimum-time trajectories may yield economical advantages due to reduced motion cycle times. This contribution presents a method that uses joint space decomposition and analytic inverse kinematics as well as standard optimization techniques to obtain minimum-time B-spline joint trajectories along prescribed task space paths for kinematically redundant serial robots. It is shown that the present method was successfully applied to a planar manipulator.

Industrial robot trajectory optimization- a review

“…A. Reiter, K. Springer, H. Gattringer and A. Müller [31] present a method that uses, besides of the standard optimization techniques, a decomposition of the joint space and inverse kinematics analysis for obtaining a minimum-time trajectory of the joint. G. Erdős, A. Kovács and J. Váncza [32] propose the optimization method for a redundant industrial robot that execute a set of tasks in a complex work environment with multiple technological and geometric constraints, consists of selecting, from the set of configurations obtained by solving inverse kinematics, of those which avoid collisions, after which, pursuing the time minimization by ensuring the shortest trajectory, is selected the optimal combination, respecting all kinematic constraints of the robot.…”