Dlabka, M.M.DlabkaZhang, Y.Y.ZhangHeld, J.J.Held2022-03-082022-03-081988https://publica.fraunhofer.de/handle/publica/315181The paper presents a practical solution of the optimal trajectory planning task for robot motions. The method is applicable for any type of robot and Point to Point (PTP) motions. The numerical algorithm allows the consideration of a wide class of cost functions as well as task and robot specific restrictions. Results of the applied optimization methods in comparison with conventional trajectory planning are presented. (IPK)endynamic programmingnumerical methodoptimal controlrobot670conference paper