Trajectory Generation and Control for a High-DOF Articulated Robot with Dynamic Constraints

Abstract. In this paper, we propose a novel and alternative approach to the task of generating trajectories for an articulated robot with dynamic constraints. We demonstrate that by focusing the effort on the generation process, the design of a trajectory controller becomes a straightforward problem. Our method is efficient and particularly suited for applications involving high-DOF articulated systems such as robotics arms or legs. We claim that our algorithm can be easily implemented by roboticists that do not share a deep background in control theory. Nevertheless, the re-sulting trajectories ensure a robust state-of-the-art control performance. We show, in simulation and practice, that the approach is well prepared for integration with graph-based planning techniques and yields smooth trajectories. 1 Introduction and Related Work The problem of trajectory generation for articulated systems is often faced in robotics. Whereas graph-based planning approaches [4, 11, 7] have become in