Optimal trajectory planning for industrial robot along a specified path with payload constraint using trigonometric splines


This paper presents a general methodology for the offline planning of trajectory of a six axis serial robot along a specified path. The objective of trajectory planning is to minimise a cost function when subjected to joint angles, joint velocities, acceleration, jerks, torques and gripping force constraints by considering dynamic of the robot. A… (More)
DOI: 10.1504/IJAAC.2012.045439


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