An Easy-implemented Optimization Method of Trajectory Planning Based on Polynomial Interpolation

Firstly, the forward kinematics and inverse kinematics of a five axis manipulator are deduced. Secondly, an easy-implemented optimization method of trajectory planning based on seventh order polynomial interpolation is proposed. The proposed optimization method can capture the time optimal trajectory, while the actuators specifications including speed, acceleration of motor can be guaranteed as well. Finally, simulation results validate the effectiveness and efficiency of proposed optimization method. The research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.