Optimizing robot motion along a predefined path

This paper describes a control scheme designed to make a manipulator move as fast as possible within its velocity and acceleration constraints. The control system adapts itself to any given path but is still conceptually simple and requires relatively little computing power. The basic strategy is to have an optimization algorithm tune the output of a trajectory generator that drives individual control loops on the robot joints. The optimization process is iterative, using only measured data from real-time runs of the arm in each step.