산업용 로보트를 위한 3차 다항식 조인트궤적의 구성과 최적화

Formulation and optimization of cubic polynomial joint trajectories for industrial robots

The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.