A new approach to the use of parametric method of robot motion planning

At robot motion planning it turns out very frequently that the motion times are too quick instead of being too slow. In the present paper, the proposed by the author method, for time-optimal cruising trajectory planning is modified to take into account the external forces increase aspects. The time-optimal cruising trajectory planning uses the parametric method where the parameter is the length along the paths. The time-optimal velocity profiles are determined by the limit (maximum, minimum) values of joint velocities. Artificial decrease of these limit values is proposed in the paper. This enables to develop a proper compromise between time and external force aspects.