A Trigonometric Trajectory Generator for Robotic Arms
Document Type
Article
Publication Date
1993
Publication Title
International Journal of Control
Abstract
Interpolation of a robot joint trajectory is realized using trigonometric splines. This method is based on the assumption that joint-space knots have been generated from cartesian knots by an inverse kinematics algorithm. The use of trigonometric splines results in smooth joint trajectories and is amenable to real-time obstacle avoidance. Some of the spline parameters can be chosen to minimize an objective function (e.g. jerk or energy). If the objective function is minimum jerk, a closed-form solution is obtained. This paper introduces a trajectory interpolation algorithm, discusses a method for trajectory optimization, and includes simulation examples.
Repository Citation
Simon, Daniel J. and Isik, Can, "A Trigonometric Trajectory Generator for Robotic Arms" (1993). Electrical and Computer Engineering Faculty Publications. 131.
https://engagedscholarship.csuohio.edu/enece_facpub/131
Original Citation
D. Simon and C. Isik. (1993). A Trigonometric Trajectory Generator for Robotic Arms. International Journal of Control, 57(3), 505-517.
DOI
10.1080/00207179308934404
Volume
57
Issue
3
