Introduction of b-splines to trajectory planning for robot manipulators
This paper describes how B-splines can be used to construct joint trajectories for robot manipulators. The motion is specified by a sequence of Cartesian knots, i.e., positions and orientations of the end effector of a robot manipulator. For a six joint robot manipulator, these Cartesian knots are t...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1988-04-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1988/MIC-1988-2-2.pdf |
| _version_ | 1818527162634862592 |
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| author | Per E. Koch Kesheng Wang |
| author_facet | Per E. Koch Kesheng Wang |
| author_sort | Per E. Koch |
| collection | DOAJ |
| description | This paper describes how B-splines can be used to construct joint trajectories for robot manipulators. The motion is specified by a sequence of Cartesian knots, i.e., positions and orientations of the end effector of a robot manipulator. For a six joint robot manipulator, these Cartesian knots are transformed into six sets of joint variables, with each set corresponding to a joint. Splines, represented as linear combinations of B-splines, are used to fit the sequence of joint variables for each of the six joints. A computationally very simple, recurrence formula is used to generate the 8-splines. This approach is used for the first time to establish the mathematical model of trajectory generation for robot manipulators, and offers flexibility, computational efficiency, and a compact representation. |
| first_indexed | 2024-12-11T06:32:30Z |
| format | Article |
| id | doaj.art-d344ecf6d8514f17b7e2742cc0b57884 |
| institution | Directory Open Access Journal |
| issn | 0332-7353 1890-1328 |
| language | English |
| last_indexed | 2024-12-11T06:32:30Z |
| publishDate | 1988-04-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj.art-d344ecf6d8514f17b7e2742cc0b578842022-12-22T01:17:28ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13281988-04-0192698010.4173/mic.1988.2.2Introduction of b-splines to trajectory planning for robot manipulatorsPer E. KochKesheng WangThis paper describes how B-splines can be used to construct joint trajectories for robot manipulators. The motion is specified by a sequence of Cartesian knots, i.e., positions and orientations of the end effector of a robot manipulator. For a six joint robot manipulator, these Cartesian knots are transformed into six sets of joint variables, with each set corresponding to a joint. Splines, represented as linear combinations of B-splines, are used to fit the sequence of joint variables for each of the six joints. A computationally very simple, recurrence formula is used to generate the 8-splines. This approach is used for the first time to establish the mathematical model of trajectory generation for robot manipulators, and offers flexibility, computational efficiency, and a compact representation.http://www.mic-journal.no/PDF/1988/MIC-1988-2-2.pdfRoboticstrajectory planning |
| spellingShingle | Per E. Koch Kesheng Wang Introduction of b-splines to trajectory planning for robot manipulators Modeling, Identification and Control Robotics trajectory planning |
| title | Introduction of b-splines to trajectory planning for robot manipulators |
| title_full | Introduction of b-splines to trajectory planning for robot manipulators |
| title_fullStr | Introduction of b-splines to trajectory planning for robot manipulators |
| title_full_unstemmed | Introduction of b-splines to trajectory planning for robot manipulators |
| title_short | Introduction of b-splines to trajectory planning for robot manipulators |
| title_sort | introduction of b splines to trajectory planning for robot manipulators |
| topic | Robotics trajectory planning |
| url | http://www.mic-journal.no/PDF/1988/MIC-1988-2-2.pdf |
| work_keys_str_mv | AT perekoch introductionofbsplinestotrajectoryplanningforrobotmanipulators AT keshengwang introductionofbsplinestotrajectoryplanningforrobotmanipulators |