On-Line Polynomial Trajectories for Robot Manipulators

Author:

Chand Sujeet1,Doty Keith L.2

Affiliation:

1. General Electric Company P.O. Box 8106 Charlottesville, Virginia 22906

2. Department of Electrical Engineering University of Florida Gainesville, Florida 32611

Abstract

Robot motion is commonly specified as a Cartesian trajectory of its end-effector. For executing the end-effector trajectory on-line, a look-ahead of a few points on the trajectory is used to generate the joint trajectories. This paper describes the construction of on-line cubic spline joint trajectories,for a limited-point look-ahead on a specified end-effector trajectory, not necessarily Cartesian. An analytical derivation for the ideal number of look-ahead points on the end-effector trajectory_for cubic spline interpolation is given. Experimental and simulation results of the on-line spline interpolation schemes show improved end-effector path tracking and smooth motion for a wide range of sampling rates on the effector trajectory.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

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