Abstract
In this paper, manipulator joint trajectories are planned to make an arbitrary cost function as good as possible in consideration of various physical constraints containing time derivative of input function. An algorithm presented here consists of two procedures. The first one iteratively changes the joint trajectories described by B-spline and the second one improves the trajectories using the idea of time scaling. This algorithm can be also applied to the case that some points are specified and joint trajectories must pass through those points This method is applied to an example of the manipulator with two links and two degrees of freedom. Numerical results show that this method is applicable to planning of manipulator's joint trajectories.
