A feasible minimum-time trajectory of robot manipulator

The main target of optimal motion planning is the generation of a trajectory that satisfies objectives, such as minimizing path traveling distance or time interval or obstacle avoidance, and satisfying the kinematics and dynamics of the robot. This paper presents a feasible method for determining the optimal time trajectory planning of robot manipulators using different degrees of B-spline which provide a continuity of position, velocity, acceleration and jerk. The Sequential Quadratic Programming (SQP) algorithm is used for solving the optimization problem taking into account the limits on the velocities, and accelerations for each joint of the robot. The proposed method is tested for movements of the first three-DOF of the CRS CataLyst-5T robot arm.