Using Growth Curve in Trajectory Planning for Industrial Manipulator

摘要

The paper presents a new algorithm to solve the problem of trajectory planning in industrial manipulator, the growth curve which is well known in Biological Sciences. The growth curve is used to demonstrate the relationship between the quantities of a certain creature over the time, which is similar to the curve of velocity in trajectory planning for industrial manipulator. This papers purpose is to introduce the algorithm and derive the logistic formula from basic growth curve to fit the velocity curve, using to plan the trajectory in industrial manipulator controlling. Although the algorithm is very simple and easy which contains only three parameters, the logistic curve can easily solves the general cases in trajectory planning where there are the upper limits of velocity and acceleration.