Contribution to Optimal Path Control of Manipulators with Bounded Joint Velocities and Torques

In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by the actuator torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. The dynamic model of the manipulator in the parametric form is given and the constraints on torques and velocities are converted to those on the path parameter. 1. Introduction In practice, a variety of tasks require sophisticated motion. Usually, it is a motion along a predefined path. The desired trajectories are provided by the trajectory planner either in task or joint coordinates. In order to utilize the manipulator capabilities with maximal efficiency, the dynamics of the manipulator must be taken into account. There are different algorithms available for trajectory planning. In the paper we present a solution to the time-optimal tra..