An implementation of cubic spline optimization with floating via points and vibration suppression for trajectory planning of industrial robot arm

For industrial robot, vibration-free motion with minimal motion time is desired. Those criteria have to be considered in the trajectory planning of industrial robot, where splines are often used to interpolate the trajectory through several via points. Cubic spline is the lowest degree polynomial spline that can provide limited jerk, a property that is important for reducing vibration. However, by limited jerk only, vibration may still occur. This paper proposes an implementation of cubic spline optimization with floating via points to reduce the motion time, as well as integrated input shaping for vibration suppression.