Optimal Trajectory Planning for Precise PTP Control of Robot Manipulators

Abstract

Optimal reference trajectories for n-link robot manipulators are planned. They are generated from the performance indices which are the integral of the square of acceleration, jerk, and so on of the trajectory with respect to the control time. The optimal reference trajectories are compared through an experiment in high-speed motion control of a 2-link robot manipulator, and a good control performance is obtained in the case of higher continuity of the trajectory. © 1992, The Japan Society of Mechanical Engineers. All rights reserved.