4-point minimal pick & place trajectory design in robotics

Abstract

Motion planning in robotics plays a very important role in the movement of objects from the source to the destination. Robots are classified according to motion control as PNP, PTP and CP robots. Hence, there are 3 basic types of trajectory motions + 1 trajectory which is the shortest path between two points in the 3D space. This type of motion or trajectory is exhibited by PNP robots. In this paper, we develop the theoretical background along with the mathematical formulation relating to the design & development of a 4-point minimal pick & place trajectory from the source to the destination during the transportation of an object in the 3 dimensional Euclidean space R3.