A MINIMUM-TIME TRAJECTORY PLANNING METHOD FOR 2 ROBOTS

A trajectory planning method is proposed that ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities. In terms of parameters defining the positions along the paths of two robots, a two-dimensional coordination space and a maximum velocity curve are constructed to detect collision regions and to plan a time-optimal velocity curve, respectively. An algorithm is then provided for the case of zero initial velocities and a single collision region. A numerical example is included.