An Optimal Control Approach to the Minimum-Time Trajectory Planning of Robotic Manipulators

Trajectory planning is a classic problem in robotics, with different approaches and optimisation objectives documented the literature. Most of time, path assumed, i.e., pre-defined, consists finding timing motion under number constraints. The focus this work on minimum-time manoeuvring robotic manipulators. A nonlinear optimal control approach proposed that does not require provision either pre-defined or structure allows inclusion dynamic solution (path motion) obtained by transforming into programming problem. applied to two-link manipulator for illustration purposes. carried out both without obstacles. minimum-distance solutions are compared, some results obtained, including trapezoidal pattern joint velocity bang–bang torques. effects limitations jerks actuators rate change torque inputs discussed. application four-link also included show ‘scalability’ approach, together comparison path-and-motion-planning method, highlight characteristics performance approach. Finally, possibility enforcing via-points along demonstrated. method computation simultaneously which 1–30 times manoeuvre standard PC current implementation.