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Time-Optimal Exponential Trajectory Planning of Robotic Systems under Kinematic Constraints

Published: 17 April 2024 Publication History

Abstract

This paper presents a novel time-optimal trajectory planning method designed for robotic systems with multi-degree-of-freedom (DOF). The proposed approach utilizes an exponential function as the basis for the velocity profile, enabling point-to-point trajectory generation with significant advantages in terms of smooth motion and ease of planning. The previous exponential trajectory planning approach appears to be slightly less efficient than traditional methods and could potentially compromise accuracy at waypoints, as it relies on constant parameters without considering time optimization. To improve motion accuracy and efficiency in the operation of multi-DOF robotic systems, the proposed method optimizes trajectories to minimize execution time while ensuring motion smoothness under the constraints imposed by the robot's kinematics. Numerical examples on a 3-DOF robotic arm demonstrate the superiority of the proposed method, showcasing improved position accuracy and motion quality. The presented time-optimal exponential trajectory planning method may offer a valuable tool for optimizing robotic performance, enhancing productivity, and enabling precise motion control in various robotic applications.

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    EITCE '23: Proceedings of the 2023 7th International Conference on Electronic Information Technology and Computer Engineering
    October 2023
    1809 pages
    ISBN:9798400708305
    DOI:10.1145/3650400
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    Published: 17 April 2024

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