Planning time-optimal trajectory for coordinated robot arms

The results of applying the cell-to-cell mapping method to the problem of optimal trajectory generation for coordinated robotic manipulators handling a common object along specified geometric paths are reported. This method uses the cell state concept together with discretized controls and cost functions. The optimal trajectories and the corresponding controls are determined by using the cell-to-cell mapping in a simple search procedure. To improve the computational efficiency and allow for parallel computation, a hierarchical search algorithm is proposed