Hybrid Time-Energy Optimal Trajectory Planning for Robot Manipulators With Path and Uniform Velocity Constraints

For robot manipulators executing specified tasks along predefined paths (for example, grinding, welding, and spraying), it is usually desired that the end effector possesses a uniform linear velocity distribution without violating robot joint constraints. In addition, the time-energy indicator is minimized during the motion. Based on the path parameterization method, this paper presents a pseudo acceleration allocation method which is continuous of the path jerk. Then the particle swarm optimization algorithm with inequality constraints is utilized to derive the best trajectory parameters to achieve the optimality of time and energy consumption. At last, the effectiveness of the proposed time-energy trajectory planning method is verified through numerical simulations.