Advanced Velocity Planning for Robotic Systems

Many industrial tasks (e.g., welding) require advanced velocity planning to achieve the target final product quality. In this paper, a novel approach is proposed to perform robotic trajectory planning. The developed algorithm exploits Fuzzy Logic (FL) to relate path features (such as curves or sharp edges) to the proper execution velocity. Such a computed velocity reference is then used as an input for Dynamical Movement Primitives (DMP), providing the reference signals to the robot controller. The main improved methodology features are: pathbased velocity planning, extension of DMP to variable velocity reference, the smoothing of the velocity reference including robot velocity/acceleration limits.