Industrial robot trajectory optimization- a review

Optimal Trajectory Planning of a Box Transporter Mobile Robot

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Simulation of Robot Manipulator Trajectory Optimization Design

ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end traject...

Trajectory Optimization of Industrial Robots with Application to Computer-aided Robotics and Robot Controllers

The workcycle time in automated car manufacturing lines can be reduced by optimizing the robot trajectories for oo-line programming. Thus, improved set points for the on-line robot controller are obtained. In this paper, direct transcription methods are described for solving the constrained trajectory optimization problems by using full dynamic robot models. The optimization methods can be used...

A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

Trajectory Planning and Control of Industrial Robot Manipulators