Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the environment is not available, no consolidated methodology exists to consider the effect of the interaction. Regardless of the specific performance index to optimize, this article proposes a strategy to include external wrenches in the optimal planning algorithm, considering the task specifications. This procedure is instantiated for minimum-time trajectories and validated on a real robot performing an interaction task under admittance control. The results prove that the inclusion of end-effector wrenches affect the planned trajectory, in fact modifying the manipulator's dynamic capability.

翻译：沿预定路径的最优运动规划可通过多种技术实现，但大多数方法未考虑末端执行器与环境接触时施加的力旋量。当环境动态模型不可用时，尚无成熟方法可考虑交互影响。本文提出一种策略，在考虑任务规范的前提下，将外部力旋量纳入最优规划算法，且不局限于特定的优化性能指标。该流程以最小时间轨迹为例进行实例化，并在实际机器人执行柔顺控制下的交互任务时进行验证。结果表明，末端执行器力旋量的引入会影响规划轨迹，实质上改变了机械臂的动态能力。