Application of Mini-Max Method for Trajectory Planning of PUMA-560 using Cubic B Spline Interpolation Technique for Jerk Minimization

In today’s generation where automation of processes in manufacturing industries is ever rising, robots and robot manipulators have an important role to play in performing a wide range of operations from assembly to pick and place, which makes improvement of their performance a paramount importance. High jerks in robot manipulators result in reduced performance. In this paper, a technique is proposed to attain an ideal trajectory of a six degrees of freedom industrial robot known as PUMA560 with minimum jerk. This is achieved by right trajectory planning where it functions under a fixed obstacle with minimum jerk. The jerk values depend on the orientation of end effectors and intermediate points that are determined based on the fixed obstacle. Cubic B-Spline is used to generate a smooth path and minimax method is used for jerk value minimization.