Joint Motion Planning of Industrial Robot Based on Modified Cubic Hermite Interpolation with Velocity Constraint
As for industrial robots’ point-to-point joint motion planning with constrained velocity, cubic polynomial planning has the problem of discontinuous acceleration; quintic polynomial planning requires acceleration to be specified in advance, which will likely cause velocity to fluctuate largely becau...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-09-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/19/8879 |