Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints

摘要

This paper designs an algorithm to generate time-optimal and energy-efficient trajectory for manipulators along a predefined geometric path. The path is first parameterized by cubic spline, then the trajectory generation problem is transformed into a nonlinear optimization problem with single state variable. After discretization, Sequence quadratic programming(SQP) method is applied for optimal solution. Finally, applications to a 6-DoF manipulator along different paths demonstrates the feasibility of the proposed method.