Title :
Bounded deviation trajectory interpolation for robot manipulators
Author :
Paden, Brad ; Sullivan, Kevin
Author_Institution :
Dept. of Mech. & Environ. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
An algorithm for interpolating workspace trajectories in the jointspace of a manipulator having revolute joints is described. The algorithm generates an interpolation so that a user-specified tolerance is maintained. In the process of developing this algorithm, it is shown that a particular induced pseudonorm of the Jacobian is bounded by the length of the manipulator and that a similar result holds for all derivatives of the forward kinematic map. The bounds obtained are used in the error analysis of the interpolation algorithm
Keywords :
error analysis; interpolation; kinematics; position control; robots; Jacobian; bounded deviation trajectory interpolation; error analysis; forward kinematic map; manipulators; robot; workspace trajectories; Algebra; Error analysis; Interpolation; Jacobian matrices; Kinematics; Manipulators; Microelectronics; Orbital robotics; Robots; Upper bound;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12023
