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Time-optimization of point-to-point robotic motions

A nonlinear programming approach to minimum-time point-to-point robotic motions is presented for the case when all joints move synchronously according to trapezoidal velocity profiles. Full robot dynamics is combined with the joint kinematics and actuator and joint limitations in order to transform the differential equations of motion into algebraic relations and cast the problem into a constrained parameter optimization form. Three examples of time-optimized point-to-point robotic motions are presented