Advanced Trajectory Planning for Robotic and Mechatronic Systems


Nowadays, trajectory planning is a relevant and challenging problem for research on intelligent robotic and mechatronic systems, especially in the context of Industry 4.0. For instance, the design of a proper motion law can be evaluated in relation to the energy consumption of a robotic or mechatronic system, and, therefore, optimal trajectories can be determined based on the best performance of the robot in terms of time-energy consumption. Additionally, path optimization strategies aimed at minimizing movement time are essential for maximizing machine throughput, effectively allowing faster task completion. Another attractive field of application is that of vibration reduction since many automatic machines and mechatronic applications require smooth and jerk-limited trajectories during the prescribed operation. Furthermore, developing advanced robotics applications, such as collaborative robotics and human–robot interaction, necessitate novel strategies for the planning of robot trajectories to ensure smoothness, safety, and fluency, or to promptly adapt to changes of the environment during the execution of a task. With reference to this context, this special track welcomes contributions about advanced path and trajectory planning, dynamic modelling, energy efficiency, time-minimized path optimization, vibration suppression, motion profile optimization, collaborative robotics, and motion planning for human-robot interaction.