Smooth and proximate time-optimal trajectory planning of robotic manipulators

The simultaneous achievement of high accuracy and productivity in robotics has been extensively investigated using the trajectory planning approach. We propose a smooth and proximate time-optimal trajectory planning method. First, we generated the velocity limit curve by expressing joint torque and joint velocity constraints as a function of the path coordinate. Then, we calculated the time-optimal trajectory using a dynamic programming technique and fitted the smooth cubic spline. The smoothing factor of the cubic spline curve was optimized by applying a binary recursive. The proposed method can guarantee the continuity and smoothness of joint torque. The simulation results showed that the proposed method can reduce joint-jerk and improve the tracking accuracy of the controller.