Robot trajectory planning by assigning positions and tangential velocities

► A technique for the robot trajectory planning is proposed. ► The trajectory is obtained by “envelope of tangents”. ► The joints velocities vector values at each of the trajectory points are assigned. ► The end-effector leaves each assigned point moving along the tangent to the path. ► The end-effector reaches the next assigned point moving along the tangent to the path. ► Test results show that the proposed technique permits to achieve more accurate paths.