A new framework for joint trajectory planning based on time-parameterized B-splines

Riboli, Marco and Corradini, Fabio and Silvestri, Marco and Aimi, Alessandra (2022) A new framework for joint trajectory planning based on time-parameterized B-splines. COMPUTER-AIDED DESIGN, 154. ISSN 0010-4485

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This paper discusses a new, highly effective trajectory planning paradigm for robotics and manufacturing systems. The proposed approach offers a more flexible solution to a problem classically solved in closed-form, defining a generalization of the existing methods by providing a common data structure based on time-parameterized curves to represent exactly or approximately the joint trajectories. In the framework, the most generic approach to constrain or optimize a trajectory is to set up an iterative loop and act on the parameters through computer-aided design concepts, such as shape modeling, symbolic calculation, derivation and integration. The iso-parametric representation allows to define these procedures as macro-instructions to develop scalable and reusable solutions. A benchmark is proposed to confirm the advantages of the new approach over an established solution. Finally, an experimental case study of a single axis motion control is provided to illustrate and clarify the method.

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