Planning and real-time modifications of a trajectory using spline techniques

被引：29

作者：

Dyllong, E ^{[1
]}

Visioli, A

机构：

[1] Univ Duisburg Gesamthsch, Dept Comp Sci, D-4100 Duisburg, Germany

[2] Univ Brescia, Dipartimento Elettron Automat, I-25123 Brescia, Italy

来源：

ROBOTICA | 2003年 / 21卷

关键词：

robot manipulators; trajectory planning; algebraic splines; B-splines; trigonometric splines;

D O I：

10.1017/S0263574703005009

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, methods based on various spline techniques for planning and fast modifications of a trajectory for robot manipulators are investigated. Algebraic and trigonometric splines, their combined use, and the use of the B-spline technique are analyzed and compared in detail. In so doing, we focus on the performance of sudden changes in a predefined trajectory, e.g. obstacle avoidance in real-time applications. Some comparative examples illustrate our results.

引用

页码：475 / 482

页数：8

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