An inverse dynamic-based dynamic-programming method for optimal point-to-point trajectory planning of robotic manipulators

This paper introduces an inverse dynamic-based dynamic programming (IDBDP) method for solving optimal point-to-point robot trajectory planning problems. Compared with the conventional dynamic programming method, the proposed method offers several advanrtages. First, it eliminates the interpolation requirement. Second, the proposed method requires only inverse dynamic computations. The requirement to integrate equations of motion is thus avoided. As a result, the IDBDP method is computationally more efficient than the conventional dynamic programming method. The reliability and efficiency of the IDBDP method have been tested via computer simulations.