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Trajectory Planning

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Handbook of Manufacturing Engineering and Technology

Abstract

Trajectory planning consists in finding a time series of successive joint angles that allows moving a robot from a starting configuration towards a goal configuration, in order to achieve a task, such as grabbing an object from a conveyor belt and placing it on a shelf. This trajectory must respect given constraints: for instance, the robot should not collide with the environment; the joint angles, velocities, accelerations, or torques should be within specified limits, etc. Next, if several trajectories are possible, one should choose the one that optimizes a certain objective, such as the trajectory execution time or energy consumption. This chapter reviews methods to plan trajectories with constraints and optimization objectives relevant to industrial robot manipulators.

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Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798, Singapore, Singapore

    Quang-Cuong Pham

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  1. Quang-Cuong Pham
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Correspondence to Quang-Cuong Pham .

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Editors and Affiliations

  1. National University of Singapore, Singapore, Singapore

    Andrew Nee

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© 2014 Springer-Verlag London

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Pham, QC. (2014). Trajectory Planning. In: Nee, A. (eds) Handbook of Manufacturing Engineering and Technology. Springer, London. https://doi.org/10.1007/978-1-4471-4976-7_92-1

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  • DOI: https://doi.org/10.1007/978-1-4471-4976-7_92-1

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  • Publisher Name: Springer, London

  • Online ISBN: 978-1-4471-4976-7

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