Dynamics based time-optimal smooth motion planning for the delta robot

A novel method for time-optimal pick and place motion planning based on robot dynamics is introduced. By using the elliptical trajectory with modified sine motion profile, the motion is smooth and suitable for high speed applications to avoid vibration. Since the modified sine motion profile is characterized by only two parameters, time-optimal pick and place motion planning problem is transformed into a three-variable optimization problem. For the reduction of the optimization variables, this method can rapidly obtain a solution that guarantees the smoothness of torques.