DSC-17A-2 SMOOTH AND TIME-OPTIMAL TRAJECTORY PLANNING FOR INDUSTRIAL MANIPULATORS ALONG SPECIFIED PATHS

This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic ma-nipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the ac-tuator torques translate into state-dependent limits on the pseudo-acceleration. The time-optimal control objective is cast as an optimization problem by using cubic splines to parameterize the state space trajectory. The optimization problem is solved using the exible tolerance method