Constrained Trajectory Planning for Second-Order Chained Form Systems Using Time Polynomials

This paper deals with time polynomial based trajectory planning for differentially flat affine dynamical systems that can be written as a chain of second-order controlled subsystems. An analytical approach is proposed to account for state and input constraints by adjusting the standard third-order time polynomial based considerations. For a point-to-point motion planning problem the constraints are met by properly selecting the time of motion value or/and initial or final values of some of the state variables. As an illustrative example trajectory planning for a 3-DoF Delta pick and place robot is considered. Copyright (C) 2020 The Authors.