Fully Dynamically Constrained Robot Efficient Time-Optimal Trajectory Planning

Summary: Aiming at the limitations of the current robot time optimal trajectory planning algorithm, such as low solution efficiency and incomplete constraints, an improved method is proposed.Time optimal trajectory planning algorithm based on accessibility analysis.The algorithm is based on path discreteThe whole planning problem is transformed into a multi-stage iterative evaluation problem, and the solution efficiency is high; because the full dynamic constraints including friction and kinematic constraints are considered, the results obtained by the algorithm are more accurate on the premise of ensuring the optimal time.Consistent with the actual motion performance of the robot.Numerical simulation experiments confirmed the feasibility and solution of the algorithmEfficiency.

Keywords: Robot  Path Planning   Time optimal   Full dynamic constraints  

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