Time-optimal trajectories for robotic transfer devices

摘要

Generate a forward time optimization trajectory of the robot manipulator, following the at least one path segment extending from the start of at least one path segment towards the end of the at least one path segment; Generate a reverse time optimization trajectory of the manipulator along the at least one path segment that extends from an end point of the at least one path segment towards the start of the at least one path segment; On the position-velocity inertial system, the forward and reverse trajectories of the at least one path segment are joined together using a planarization bridge that combines the forward and reverse time optimization trajectories so that there is no substantially discontinuity between the forward and reverse time optimization trajectories. A time optimization trajectory for the robotic manipulator with a transfer path comprising the at least one path segment, comprising combining the forward and reverse time optimization trajectories to obtain a blended, complete time optimization trajectory Produce method.