Title :
A method for on-line trajectory planning of robot manipulators in Cartesian space
Author :
Xu, Xiang-Rong ; Chung, Won-Jee ; Choi, Young-Hyu
Author_Institution :
Dept. of Mech. Design & Manuf., Chang-Won Nat. Univ., Changwon, South Korea
Abstract :
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
Keywords :
industrial manipulators; manipulator dynamics; path planning; Cartesian space; continuous-path motion trajectories; minimum-time trajectories planning; on-line trajectory planning; parameter equations; polynomial coefficients; recurrence form; robot manipulators; time interval; Acceleration; Equations; History; Manipulators; Motion planning; Orbital robotics; Path planning; Polynomials; Robot kinematics; Trajectory;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 1999. CIRA '99. Proceedings. 1999 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-5806-6
DOI :
10.1109/CIRA.1999.809944
