A Time-Optimal Trajectory Algorithm Based on Accessibility Analysis

In order to make industrial robots move faster, more accurately and more safely along a predetermined path [1], a time-optimal trajectory algorithm based on accessibility analysis is designed in this paper. This algorithm adopts a widely used path-velocity decomposition framework [2], introduces path parameters, changes the velocity and acceleration of the trajectory by changing the path parameters, and then completes the planning in Cartesian space. This paper discusses the problem of the number of interpolation points in the path [3], and puts forward the principle of coarsening the interpolation points according to the length of the path, and then supplementing the interpolation points according to the curvature and the planned acceleration. Make interpolation point distribution more reasonable. Then, the positive and negative search algorithm is proposed to determine the deceleration point, which greatly improves the efficiency compared with the traditional iterative search algorithm [4] and the method of finding the switching point [5]. Finally, the program of the straight line, arc, and spline curve is written to verify the effect of the algorithm.