Generation of Point to Point Trajectories for Robotic Manipulators under Electro-Mechanical Constraints

A simple direct method is applied to solve the problem of optimal trajectory generation for serial manipulators under electro-mechanical constraints. The goal is to increase the robot productivity by using its electric motors outside of their continuous operating range. This is possible only if dynamics of actuators is considered and inherent constraints are included. For this purpose, a general electro-mechanical model for serial robots is first presented. Then, the problem of trajectory generation is cast as a non-linear optimization program using an approximation of joint position variables by means of algebraic polynomial splines which interpolate a set of control points. Finally, the optimization problem is solved using a sequential quadratic programming method for the unknown transfer time and the unknown position of control points, while minimizing a cost function and respecting elecro-mechanical constraints. Numerical and experimental results are presented to illustrate the efficiency of the proposed approach. Copyright © 2007 Praise Worthy Prize All rights reserved.