Online computing of a robotic manipulator joint trajectory with velocity and acceleration constraints

An online algorithm for computing a robot manipulator's trajectory in joint space with velocity and acceleration constraints is proposed. Our theoretical discussion is based on optimizing the minimum possible time for velocity and acceleration constraints while using cubic splines. A method for calculating the wandering time is also presented. This value of the time gives prehand knowledge to the user about the time after which the wandering phenomenon starts. Simulation results of the proposed algorithm are also presented to show its efficiency.