TRAJECTORY PLANNING SYSTEMS AND METHODS

Techniques are disclosed for a trajectory planning of robots, such as collaborative robots (cobots). A controller of a robot may include a path planner, a trajectory generator, and a trajectory controller. The path planner may determine a plurality of waypoints defining a path between an initial pose of the robot and a goal pose of the robot. The trajectory generator may determine a trajectory between the initial pose and the goal pose based on the waypoints and one or more trajectory criterion. The trajectory controller may generate a control signal to control the robot based on the determined trajectory.