A New Trajectory Planning Approach with Motion Duration Control for Kinematic Constrained Systems

Abstract

Trajectory planning for industrial applications such as pick-and-place, welding or material handling yields production enhancement and economic improvements. The problem of trajectory planning given an initial and target state is a fundamental issue for robotic applications and automation in general. This paper presents a novel algorithm to calculate the actuator's motion profile between two states considering its kinematic constraints. The key feature of the presented concept is to use more conservative values for the kinematic constraints to find a motion profile, such that the target state can be reached given a fixed trajectory duration. One advantage of this approach is the synchronization possibility with further actuators, whose trajectories durations are fixed and not controllable. Finally, an application case using a real system is described, and the simulation results are presented using the proposed algorithm.