Abstract
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.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
32 articles.
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