Kinematically constrained smooth real-time velocity planning for robotics applications

Smooth velocity signals are commonly used to drive industrial manipulators, mobile robots and mechatronic systems. Indeed, smoothness is essential in order to achieve comfortable motions, to reduce hardware solicitations, and to improve accuracy. The paper analyzes and solves a velocity planning problem with assigned travelling time. Constraints on the maximum velocity and acceleration are simultaneously taken into account. Necessary and sufficient conditions for the solution existence are devised. The proposed planning method is suited to be used in real-time frameworks due to its efficiency.