Planning for kinematically smooth manipulator trajectories

Zan Mi, Jingzhou Yang, Karim Abdel-Malek, Laurent Jay

Research output: Contribution to conferencePaperpeer-review


This paper presents a general methodology and accompanying formulation for planning kinematically smooth path trajectories for serial robot manipulators. Starting from an initial point on the path, it is required to traverse a path trajectory without halting the motion (typically due to switch from one inverse solution to another). The problem focuses on determining a starting configuration at the initial point on the path. The problem is formulated in terms of a constraint function and characterized by a system of differential-algebraic equations (DAEs) of index 2. These DAEs are solved numerically by Runge-Kutta (RK) methods while a best starting configuration is chosen using a cost-function driven optimization method. The formulation is demonstrated through a planar 3 degree of freedom robot manipulator.

Original languageEnglish
Number of pages9
StatePublished - 2002
Event27th Biennial Mechanisms and Robotics Conference - Montreal, Que., Canada
Duration: Sep 29 2002Oct 2 2002


Conference27th Biennial Mechanisms and Robotics Conference
CityMontreal, Que.


  • Differential-algebraic equations
  • Kinematically smooth
  • Path
  • Planning
  • Trajectories


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