A minimum time joint-trajectory planning for industrial manipulator with input torque constraint

Approximation of a Cartesian straight line motion with linear interpolations in the joint space has many desirable advantages. But inappropriate determination of the corresponding subtravelling and transition times makes such joint-trajectories unrealizable. An approach that rectifies this difficulty is established by incorporating dynamic equations into this determination in order to utilize the allowable maximum input torques of the manipulator. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a three-joint revolute manipulator are demonstrated by computer simulations.