A cutting-plane algorithm for minimum-time trajectory planning of industrial robots

Abstract

The optimal minimum-time trajectory planning of an m-joint industrial robot is proposed by means of a newly devised outer cutting-plane algorithm. By using piecewise cubic polynomials in the joint space, this algorithm provides a global solution to the minimum total time planning problem by adopting an interval subroutine, i.e. a procedure which uses concepts of interval analysis. An example for the 2-joint case with computational results is included.