Title :
Trajectory planning of robot manipulators by using spline function approach
Author :
Xiang-Rong, Xu ; Wang Xiao-gang ; Qin Feng
Author_Institution :
East China Univ. of Metall., Anhui, China
Abstract :
Presents a method for trajectory planning of robot manipulators by using a spline function approach. The motion of each joint of the robot is specified by a set of spline functions. The method is simple and needs less computation. In addition, the singular-point problems can not appear in the proposed method. So the method can be used to generate a smooth, steady and noiseless trajectory of robots
Keywords :
manipulators; path planning; splines (mathematics); robot manipulators; smooth steady noiseless trajectory; spline function approach; trajectory planning; Manipulators; Motion planning; Noise generators; Robots; Spline; Trajectory;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863436
