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Trajectory planning of robot manipulators by using algebraic and trigonometric splines

Published online by Cambridge University Press:  23 April 2001

Antonio Visioli
Antonio Visioli
Affiliation:
Dipartimento di Elettronica per l'Automazione, University of Brescia, Via Branze 38-25123, Brescia (Italy)visioli@bsing.ing.unibs.it
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Abstract

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In this paper, the use of algebraic and trigonometric splines for the trajectory planning of robot manipulators is discussed. First, the two methods are analyzed and compared in detail; then, a strategy, which involves a combined use of the two schemes to perform sudden changes in a predefined trajectory (e.g. in case of obstacle avoidance) is proposed. Results show that the main interest in using trigonometric splines lies especially in the task of connecting two separate pieces of cubic splines, as overshoots are significantly reduced, although the continuity of velocity, acceleration and (in case) jerk is guaranteed.

Keywords

Trajectory planningTrigonometric splinesAlgebraic splinesReal-time obstacle avoidance
Type
Research Article
Information
Robotica , Volume 18 , Issue 6 , November 2000 , pp. 611 - 631
Copyright
© 2000 Cambridge University Press