A Novel Trajectory Generation Algorithm for Robot Manipulators with Online Adaptation and Singularity Management

摘要

With the advent of industry 4.0, manufacturing companies often require the production of small batches of different products. Therefore, flexibility and modularity are incoming into the design of the production lines, where different robots could be integrated depending on the tasks to be performed. In this paper, a novel algorithm for the trajectory planning is developed in order to be generic and independent to the specific type of robots. This algorithm uses a smoothed exponential speed profile with an optimal smoothing parameter and a singularity management strategy. Experimental results validate its effectiveness and demonstrate the benefits in terms of energy consumption, vibrations and singularity management.