The Generation and Optimization of Trigonometric Joint Trajectories for Robotic Manipulators
Document Type
Conference Proceeding
Publication Date
6-1991
Publication Title
American Control Conference
Abstract
Interpolation of a sequence of desired robot configurations 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, and smoother trajectories are obtained using the proposed approach. The paper introduces a trajectory interpolation algorithm, discusses methods for both closedform and numerical path optimization, and includes examples.
Repository Citation
Simon, Daniel J. and Isik, Can, "The Generation and Optimization of Trigonometric Joint Trajectories for Robotic Manipulators" (1991). Electrical and Computer Engineering Faculty Publications. 175.
https://engagedscholarship.csuohio.edu/enece_facpub/175
Original Citation
D. Simon and C. Isik. (1991). The Generation and Optimization of Trigonometric Joint Trajectories for Robotic Manipulators. American Control Conference, 2027-2032.
