Abstract: A method, a device and a computer program product determines a time-optimal trajectory before the start of movement for a movement of an industrial robot, predefined by movement parameters, on a path. The method includes dividing the path into one or more partial paths and carrying out a predetermined number of repetitions of the following steps: calculating a time-optimal trajectory for each of the partial paths, joining the time-optimal trajectories for all partial paths, checking whether predetermined limit values are not exceeded and whether the fastest movement has been found, and varying one or more of the movement parameters.

Abstract: A method, a device and a computer program product determines a time-optimal trajectory before the start of movement for a movement of an industrial robot, predefined by movement parameters, on a path. The method includes dividing the path into one or more partial paths and carrying out a predetermined number of repetitions of the following steps: calculating a time-optimal trajectory for each of the partial paths, joining the time-optimal trajectories for all partial paths, checking whether predetermined limit values are not exceeded and whether the fastest movement has been found, and varying one or more of the movement parameters.