Optimal scheduling of functional points of a trajectory generalization to redundant robots

In this paper, we describe a method for solving the time-optimal scheduling of point-to-point tasks, in order to minimize the trajectory run time of a robot. Many authors have worked on this NP-complete problem where there exists no polynomial algorithm. Several of these methods have been used in robotics. We have taken an interest in an original algorithm called the elastic net method. This method seems to offer the advantage of a low computational time. Moreover, it has a capacity to solve problems in a space of any dimensionally