Process for generating a trajectory for a robotized system

A process for generating a trajectory for a robotized system having at least one mobile member and moving the robotized system according to the trajectory, the trajectory consisting of a superimposition of movements by the one mobile member and being defined by a succession of sections joined by passage points defined by coordinates, where the system is at a given state, comprising the steps of:

• selecting a main movement and a dependent movement;
• reading the coordinates, when each of the sections is reached by the robotized system to become a current section, of a first passage point at which the current section begins, a second passage point at which the current section ends and a next section begins, and a third passage point at which the next section ends;
• determining a target velocity of said main movement at said second passage point, said target velocity allowing the robotized system to reach said third passage point at a nil speed according to a maximal possible deceleration imposed on the robotized system between said second passage point and said third passage point;
• determining a main velocity of said main movement between a previous passage point and a next passage point according to a first velocity at said previous passage point, said target velocity, and a maximal possible acceleration;
• determining a dependent velocity of said dependent movement according to said main velocity so that the robotized system travels over the current section with respect to said dependent movements substantially at the same velocity with respect to said main movement;
• and
• controlling the robotized system to move the robotized system through each of the sections so that, for each section, the robotized system travels at said target velocity at a second passage point of each section, travels at said main velocity during at least a portion of the main movement, and travels at said dependent velocity during at least a portion of said dependent movement.