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This paper deals with optimization of the joint space trajectory for any general manipulator. The optimization has been done with the primary design objective of minimization of traversal time. Multi-segment blended trajectory for point to point motion with via points was used for calculation of path. The time required for the manipulator to complete a particular segment was calculated based on the actuator inputs and path constraints specified by the user. There is a possibility that the user may specify actuator parameters such that the maximum possible acceleration cannot attain the maximum possible velocity within the constraints of the path. For such a case, a bisection method algorithm was applied to find the best possible and attainable velocity. Also the possibility of successively increasing or decreasing via points has been covered. Inherently a multi-segment linear trajectory with parabolic blends is an approximate technique. Therefore a correlation between the positional error and specified velocity and acceleration has also been established. A MATLAB code has been written for implementation of the above methodology. Plots of joint displacements, velocities and accelerations have been plotted against time. The program also calculates the minimum possible execution time for the calculated path.

Optimization of Joint Space Trajectory for Minimization of Traversal Time with Specified Actuator Constraints