A New Framework for Joint Trajectory Planning Based on Time-Parameterized B-Splines

This paper discusses a new, highly effective trajectory planning paradigm for robotics and manufactur-ing systems. The proposed approach offers a more flexible solution to a problem classically solved in closed-form, defining a generalization of the existing methods by providing a common data structure based on time-parameterized curves to represent exactly or approximately the joint trajectories. In the framework, the most generic approach to constrain or optimize a trajectory is to set up an iterative loop and act on the parameters through computer-aided design concepts, such as shape modeling, symbolic calculation, derivation and integration. The iso-parametric representation allows to define these procedures as macro-instructions to develop scalable and reusable solutions. A benchmark is proposed to confirm the advantages of the new approach over an established solution. Finally, an experimental case study of a single axis motion control is provided to illustrate and clarify the method. (c) 2022 Elsevier Ltd. All rights reserved.

Automated summary

This paper presents a new and efficient trajectory planning paradigm for robotics and manufacturing systems. The proposed approach offers a flexible solution to a classical problem by using a common data structure based on time-parameterized curves. It also introduces computer-aided design concepts to constrain and optimize the trajectories. A benchmark is proposed to demonstrate the advantages of the new approach, and an experimental case study is provided for illustration.