3-cubic spline for online Cartesian space trajectory planning of an industrial manipulator

An online trajectory generation method makes manipulator programming easier, requires less input data and minimum delay in executing the motion thus reducing the manipulator´s down time and gives certain autonomy to the manipulator. The basic requirement for this trajectory generation becomes the use of trajectory generation algorithms having short calculation time with analytical solutions. We propose a concept of trajectory planning method so that the trajectory generation may be possible online and interactively using a 3-cubic spline method