A method for on-line trajectory planning of robot manipulators in Cartesian space

A method for on-line trajectory planning of robot manipulators in Cartesian space

This paper presents a technique for robot continuous-path motion trajectories planning. The Cartesian path is specified by a group of parameter equations in Cartesian coordinates. The time interval [0, T] is divided into m segments, and the coefficients of polynomial at each segment can be obtained...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Xiang-Rong Xu, Won-Jee Chung, Young-Hyu Choi
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Acceleration
Equations
History
Manipulators
Motion planning
Orbital robotics
Path planning
Polynomials
Robot kinematics
Trajectory
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Beschreibung
Zusammenfassung:This paper presents a technique for robot continuous-path motion trajectories planning. The Cartesian path is specified by a group of parameter equations in Cartesian coordinates. The time interval [0, T] is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recurrence form. The problem of minimum-time trajectories planning and the determination of m are also studied in the paper.
DOI:10.1109/CIRA.1999.809944