Time-Optimal Trajectory Planning With Interaction With the Environment

Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by end-effector when in contact environment. When a dynamic model environment is available, no consolidated methodology exists to consider effect interaction. Regardless specific performance index optimize, this article proposes strategy include external optimal algorithm, considering task specifications. This procedure instantiated for minimum-time trajectories and validated on real robot performing an interaction under admittance control. The results prove that inclusion affects planned trajectory, fact modifying manipulator's capability.