Abstract
This paper considers the motion of a robot which goes from an initial point to some target, following a prescribed trajectory. An on line solution is proposed for the computing of joint reference trajectories. The robot is, in practice, not able to follow exactly the desired trajectories elaborated previously. To prevent this drawback, the proposed system is able to decide whether and how a new reference trajectory must be planned, taking into account the situation detected by the sensors. This motion generation method uses the resolution of a minimum time optimization problem subject to joint velocities and accelerations constraints. Simulation results are presented to illustrate the efficiency of the proposed algorithm.
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