Actuator constraints in point to point motion planning of manipulators

Abstract

Minimum time point to point motion planning has been solved by considering the kinematic constraints on speed and acceleration. These bounds are approximations and imply the full capability of the robot cannot be utilized. Efficiency can be increased by considering the characteristics of the robot dynamics. From the user viewpoint, it would be preferable to have a suboptimal but simpler solution to implement. For this purpose, we have chosen a polynomial trajectory and we find parameters of the trajectory for a minimal time motion. In this paper, the simple expressions previously obtained by Dombre-Khalil (1988) are extended to actuator constraints.