Time-Optimal Trajectory Planning for Industrial Robot

Using piecewise cubic polynomial, a new time-optimal trajectory planning for industrial robot is studied. In order to get optimal trajectory, acceleration curve here is continuous and the kinematic constraints on the robot motion are taken into account. The main advantage of the piecewise cubic polynomial is to let the maximum absolute values of velocity and jerk be equal to their upper bounds separately, such will minimize the total execution time. The algorithm has also compared with another important trajectory planning techniques (i.e. a 3-4-5 interpolating polynomial, a 4-5-6-7 interpolating polynomial and cycloidal motion). The results show that the total execution time in this new algorithm smaller.