Optimal Trigonometric Robot Joint Trajectories
Interpolation of a robot joint trajectory is realized using trigonometric splines. This original application has several advantages over existing methods (e.g. those using algebraic splines). For example, the computational expense is lower, more constraints can be imposed on the trajectory, obstacle avoidance can be implemented in real time, and smoother trajectories are obtained. Some of the spline parameters can be chosen to minimize an objective function (e.g. minimum jerk or minimum energy). If jerk is minimized, the optimization has a closed form solution. This paper introduces a trajectory interpolation algorithm, discusses a method for path optimization, and includes examples.
Simon, Daniel J. and Isik, Can, "Optimal Trigonometric Robot Joint Trajectories" (1991). Electrical Engineering & Computer Science Faculty Publications. 128.
D. Simon and C. Isik. (1991). Optimal Trigonometric Robot Joint Trajectories, Robotica, 9(4), 379-386, doi: dx.doi.org/10.1017/S0263574700000552.
Copyright © Cambridge University Press 1991. Online full text at: http://dx.doi.org/10.1017/S0263574700000552