Trajectory Planning

Reference work entry


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.


Joint Angle Path Planning Trajectory Planning Bezier Curve Path Planning Problem 
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Copyright information

© Springer-Verlag London 2015

Authors and Affiliations

  1. 1.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore

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