Time-Optimal Trajectory Planning of Six-Axis Manipulators Based on the Improved Direct Collocation Method with FMU

The trajectory planning method with dynamics is the key to improving motion performance of manipulators. optimal control (OCM) a technology solve problems dynamics. There are direct and indirect methods in OCM; difficult apply engineering applications, so widely applied instead. collocation (DCM) OCM transform an problem (OCP) nonlinear (NLP), that plenty solvers can be used directly. However, general DCM, for which it has been found explicit form right-hand-side (RHS) functions state equations complex system OCP hard derive, limited solving three-axis This paper proposes improved DCM six-axis manipulators, find solution time-optimal manipulators based on DCM. proposed derives RHS implicitly by introducing Functional Mock-up Unit (FMU), simplifies representation as black-box model, A simulation case manipulator accomplished related study works reference compared our verify consistence between using or implicit equations, loss computational efficiency acceptable. In meantime, experiment novel advancement, presented validate method.