Trajectory Planning for Automatic Machines and Robots

Trajectory planning and motion law generation for automatic machines and robots are becoming ever more relevant in motion control system design. This book examines the problems, especially in applications where high dynamics in the payloads are desired.

For these reasons, in order to understand and appreciate the peculiarities of the different techniques available for trajectory planning, besides the mathematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under different points of view, and general considerations related to their practical use are reported.

Part I Basic Motion Profiles.- Part II Elaboration and Analysis of Trajectories.- Part III Trajectories in the Operational Space.- Part IV Appendices.