A SUBOPTIMAL APPROACH TO TRAJECTORY PLANNING OF MULTI-LINK FLEXIBLE-JOINT ROBOTS

In this paper, a suboptimal approach to trajectory planning of multi-link flexible-joint robots is studied. An invertibility-decoupling technique is first applied to the transformation the nonlinear constrained planning problem into a linear planning problem of the sub-systems. Then based on the unique analytic optimal solution in closed form to the sub-systems, the suboptimal solution to the robot is obtained.