Analysis, design and implementation of a time optimal planner for robotic applications

The aim of the thesis is to design and to develop a time optimal trajectory planner for robotic applications and to integrate it in ROS and MoveIt! framework. The proposed optimization algorithm is based on the dynamic programming approach, which finds the optimal positions, velocities, accelerations and torques, taking the torque constraints into account. Finally, the optimal trajectory is tested on the Gazebo simulator, using different types of controllers available in the framework.