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
相关论文
共 50 条
[41]   A Real-time Trajectory Re-planning Method for Orbital Transfer Vehicle via Convex Optimization [J].
Ma Haolei ;
Li Xuefeng ;
Huo Siqi .
PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020), 2020, :5068-5073
[42]   Multi-objective optimal trajectory planning method for robot manipulator with real-time parameters monitoring [J].
Zhu, Shihao ;
Zhang, Yongbo ;
Li, Zhonghan ;
Wang, Junling ;
Yuan, Shangwu .
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2025, 229
[43]   Real-time Multi-Objective Trajectory Optimization [J].
Gukov, Ilya ;
Logins, Alvis .
2022 SIXTH IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING, IRC, 2022, :391-394
[44]   Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control [J].
Zhang Yu ;
Chen Jing ;
Shen Lincheng .
Chinese Journal of Aeronautics, 2013, (04) :1038-1056
[45]   Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control [J].
Zhang Yu ;
Chen Jing ;
Shen Lincheng .
CHINESE JOURNAL OF AERONAUTICS, 2013, 26 (04) :1038-1056
[46]   Real-time velocity alteration strategy for collision-free trajectory planning of two articulated robot manipulators [J].
Ju, MY ;
Liu, JS ;
Hwang, KS .
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2002, 33 (02) :167-186
[47]   A High-Feasibility Real-Time Trajectory-Planning Method for Parafoils Based on a Flexible Dynamic Model [J].
Yu, Jiaming ;
Sun, Hao ;
Sun, Qinglin ;
Sun, Mingwei ;
Chen, Zengqiang .
MATHEMATICS, 2024, 12 (24)
[48]   Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm [J].
Yanyang Liang ;
Chaozhi Yao ;
Wei Wu ;
Li Wang ;
Qiongyao Wang .
The International Journal of Advanced Manufacturing Technology, 2022, 119 :4991-5009
[49]   Real-time Velocity Alteration Strategy for Collision-free Trajectory Planning of Two Articulated Robot Manipulators [J].
Ming-Yi Ju ;
Jing-Sin Liu ;
Kao-Shing Hwang .
Journal of Intelligent and Robotic Systems, 2002, 33 :167-186
[50]   Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm [J].
Liang, Yanyang ;
Yao, Chaozhi ;
Wu, Wei ;
Wang, Li ;
Wang, Qiongyao .
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2022, 119 (7-8) :4991-5009
12345