Robot Trajectory Planning by Points and Tangent Lines

At the Di.M.E. of the University of Naples - “Federico II” a technique for robot trajectories planning was studied; by means of the latter, a better precision of the trajectory itself was achieved. With the proposed technique, not only the points that the end-effector must go across are assigned but also the tangent lines to the path in each of those given points. The latter condition is achieved by assigning the velocity of each of the joints in the joint space. In order to carry on the proposed technique, it was performed the possibility to operate a robot by assigning to the control system not only the joint variables {qi} but also the vector {qi}. of the velocities that each of the joint must perform in correspondence of each of the points assigned to define the end-effector path. In the paper are reported some comparisons between the trajectories obtained by traditional techniques and those obtained by the proposed technique. The comparisons clearly show that, generally, by the proposed technique paths closed to the planned ones are obtained, also assigning a much lower number of points.