Planning and real-time modifications of a trajectory using spline techniques

In this paper, methods based on various spline techniques for planning and fast modifications of a trajectory for robot manipulators are investigated. Algebraic and trigonometric splines, their combined use, and the use of the B-spline technique are analyzed and compared in detail. In so doing, we focus on the performance of sudden changes in a predefined trajectory, e.g. obstacle avoidance in real-time applications. Some comparative examples illustrate our results.