Point-to-Point Trajectory Generation under Joint Constraints for Industrial Robots

Authors : M.H.P.L Jayarathne; J.A.K.S. Jayasinghe

Volume/Issue : Volume 8 - 2023, Issue 10 - October

Google Scholar : https://tinyurl.com/4h9zr8zb

Scribd : https://tinyurl.com/bdvrbdws

DOI : https://doi.org/10.5281/zenodo.10088579

Robotic systems are now used across various domains. Generating a precise, efficient, and time- optimal motion profile is a challenge. A point-to-point trajectory generation method under joint constraints, specifically addressing factors such as joint limits, velocity limits, acceleration limits, and jerk limits, while ensuring the safety and feasibility of the robot’s movement is presented. Such a trajectory can be taken as the basis for creating more efficient trajectories by combining the motion profiles of intermediate waypoints where the robot can continue its trajectory without any stops. We comprehensively explore the minimum-time point-to-point trajectory generation problem, by calculating the maximum permissible velocity, acceleration, and jerk for each join.


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31 - December - 2023

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