ACTUATOR CONSTRAINTS IN POINT TO POINT MOTION PLANNING OF MANIPULATORS - Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

I INTRODUCTION Minimum time point to point motion planning has been solved considering kinematical constraints on speed and acceleration [3]. These bounds are approximations and imply the full capability of the robot cannot be utilized. Efficiency can be increased by considering the characteristics of the robot dynamics. [l] has presented a trajectory generation based on optimal control formulation, assuming that joint torques are constrained. [2] have shown that most often the structure of the minimum time control requires that at least one of the actuators is always in saturation whereas the others adjust their torques so that some constraints on motion are not violated while enabling the arm to reach its final desired destination. Although the obtained results are important, they are not applicable directly to an industrial robot. From an user view point, it would be preferable to have a suboptimal but simpler solution to implement. For this purpose, we have chosen a polynomial trajectory and we find parameters of the trajectory, for a minimal time motion. In this paper, the simple expressions previously obtained [3], are extended to actuator constraints.