Trajectory Planning for Robot Manipulators

Sebastian Castro discusses technical concepts, practical tips, and software examples for motion trajectory planning with robot manipulators.

First, Sebastian introduces the difference between task space and joint space trajectories and outlines the advantages and disadvantages of each approach. Then he describes various common techniques such as trapezoidal trajectories, polynomial trajectories, and rotation interpolation.

Throughout the video, you will see several MATLAB^® and Simulink^® examples testing different types of trajectory generation and execution using a 3D model of the seven-degrees-of-freedom Kinova^® Gen3 Ultra lightweight robot.

For more information, refer to these links:

• Robot Manipulation, Part 1: Kinematics
• Robot Manipulation, Part 2: Dynamics and Control
• Manipulator Shape Tracing in MATLAB and Simulink