P2P Motion: A Motion Planning Algorithm for Cyclic Synchronous Position Based Motion Control Systems

In this paper, we propose a trajectory planning algorithm which finds a joint space trajectory from current location to a given target (position, orientation) combination such that the motion from current to target location takes a given time duration. This algorithm is implementable on a robot with multiple degrees of freedom where motion of each joint is controlled using Cyclic Synchronous Position(CSP) mode. Our algorithm is simple and generates smooth trajectories when a series of target locations comes one after another. The main characteristic of our algorithm is that it only considers the current target location and so it reacts efficiently to unseen events. We implemented this algorithm in motion development of ski robot TiBo.