A New Framework for Joint Trajectory Planning Based on Time-Parameterized B-Splines

Abstract

This paper discusses a new, highly effective trajectory planning paradigm for robotics and manufacturing systems. The proposed approach offers a more flexible solution to a problem classically solved in closed-form, defining a generalization of the existing methods by providing a common data structure based on time-parameterized curves to represent exactly or approximately the joint trajectories. In the framework, the most generic approach to constrain or optimize a trajectory is to set up an iterative loop and act on the parameters through computer-aided design concepts, such as shape modeling, symbolic calculation, derivation and integration. The iso-parametric representation allows to define these procedures as macro-instructions to develop scalable and reusable solutions. A benchmark is proposed to confirm the advantages of the new approach over an established solution. Finally, an experimental case study of a single axis motion control is provided to illustrate and clarify the method. • A new Iso-Parametric Trajectory Planning (IPTP) framework is presented. • Time-parameterized univariate B-splines represent trajectories in the joint space. • CAD concepts are applied to design and modify the trajectories. • IPTP allows both to design mechanical cam profiles and to plan the motion of electric axes. • IPTP defines scalable and reusable solutions through macro-instructions definition.