A time optimal trajectory planning algorithm for closed-loop multibody systems and its verification by experiments

Abstract

In this paper, we address a problem of time-optimal trajectory planning for machines and robots modeled as multibody systems which is important to increase productivity in the factory. We propose a general and efficient algorithm that can generate a near-time-optimal trajectory considering system dynamics and limits of actuator driving forces/torques. Proposed algorithm combines path parameterization technique by using B-spline, trajectory optimization algorithm along a specified path which was originally developed for motion planning of robotic manipulators and a nonlinear programming formulation. Some simulation and experimental results are given and compared to illustrate the effectiveness of the proposed method.