Minimum cost trajectory planning for industrial robots

We discuss the problem of minimum cost trajectory planning for robotic manipulators. It consists of linking two points in the operational space while minimizing a cost function, taking into account dynamic equations of motion as well as bounds on joint positions, velocities, jerks and torques. This generic optimal control problem is transformed, via a clamped cubic spline model-of joint temporal evolutions, into a non-linear constrained optimization problem which is treated then by the Sequential Quadratic Programming (SQP) method., Applications. involving, grasping mobile, object,or obstacle avoidance are shown to illustrate the efficiency of the proposed, planner. (C) 2004 Elsevier-SAS. All rights reserved.