Simultaneous algorithm to solve the trajectory planning problem

This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The method presented deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via-points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated, to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained.