Motion Description Language for Trajectory Generation of a Robot Manipulator

Trajectory generation is a fundamental problem of the robot manipulator. The traditional method for trajectory generation is to compute every sampling point and transmit them to joint in real time. The accuracy of trajectory depends on the time interval. If we want to improve accuracy, we should reduce time interval to get more samples. The more accurate the more data is needed. However, this method increases the bus loading of the system. In this paper, we propose a novel method for trajectory generation based on Motion Description Language (MDL). This method transmits continuous function to the joint instead of samples of position and velocity, which reduces the bus loading but does not affect the accuracy of trajectory.