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
收藏
页码：475 / 482
页数：8
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