Method and Apparatus for Robot Trajectory Planning

Abstract

A method for defining a trajectory of a robot (1) for moving along a path from an initial point (A) to a final point (B) in a multidimensional space, each of whose points has a plurality of space coordinates, which are position and/or orientation coordinates, wherein the trajectory is a continuous map mapping an initial instant in time to the initial point (A), a final instant to the final point (B) and intermediate instants to intermediate points of the path, comprises the steps of defining (S3) a cost function which associates a cost value to a given trajectory, defining (S3) a pluridimensional subspace of said multidimensional space and determining (S4) among trajectories extending along different paths of said subspace, a trajectory which minimizes the cost function.

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