Synthesis of dynamic motions for robotic manipulators with geometric path constraints

This paper presents a new method to plan minimum cost movements for non-redundant robotic manipulators along prescribed geometric paths while tacking into account various kinodynamic constraints. The problem consists of defining the best way to follow a prescribed geometric path under several constraints, such as limitations on joint torque, jerk, acceleration or velocity, while minimizing an objective function (time transfer, mean average of joint torques, etc.). It is formulated as a non-linear optimization problem and can be then treated by any adequate mathematical optimization method. Numerical examples using genetic algorithms are presented to illustrate the effectiveness of the proposed approach.