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Trajectory planning for industrial applications such as pick-and-place, welding or material handling yields production enhancement and economic improvements. The problem of trajectory planning given an initial and target state is a fundamental issue for robotic applications and automation in general. This paper presents a novel algorithm to calculate the actuator&#x0027;s motion profile between two states considering its kinematic constraints. The key feature of the presented concept is to use more conservative values for the kinematic constraints to find a motion profile, such that the target state can be reached given a fixed trajectory duration. One advantage of this approach is the synchronization possibility with further actuators, whose trajectories durations are fixed and not controllable. Finally, an application case using a real system is described, and the simulation results are presented using the proposed algorithm.

A new trajectory planning approach with motion duration control for kinematic constrained systems