Joint-space Trajectory Planning for Robots under Multiple Constraints

In the cases that the robots move fast with fixed motion time,various constraints,such as angular acceleration constraint,angular velocity constraint and angular constraint,should be considered when planning the trajectories of robots due to the driver performances and other factors.By analyzing the constraints,a joint-space trajectory planning method for robots under multiple constraints is proposed based on trapezoidal velocity profile.According to the minimum acceleration trajectory without constraints,the minimum acceleration trajectory under the angular velocity constraint and angular constraint is obtained by optimizing the angular acceleration while it is in the constraint range.The situation that the trajectory with maximum acceleration cannot meet the constraint requirements is discussed.The trajectory planning method takes into account both the moving stability and the constraints and can give full joint driving performances.Simulation results show the feasibility of the method.