  In the article, we describe a trajectory planning problem for a 6-DOF robotic
manipulator arm that carries an ultra-wideband (UWB) radar sensor with
synthetic aperture (SAR). The resolution depends on the trajectory and velocity
profile of the sensor head. The constraints can be modelled as an optimization
problem to obtain a feasible, collision-free target trajectory of the
end-effector of the manipulator arm in Cartesian coordinates that minimizes
observation time. For 3D-reconstruction, the target is observed in multiple
height slices. For Through-the-Wall radar the sensor can be operated in sliding
mode for scanning larger areas. For IED inspection the spot-light mode is
preferred, constantly pointing the antennas towards the target to obtain
maximum azimuth resolution.
