Trajectory planning of robot manipulators by using spline function approach

被引：0

作者：

Xu, XR ^{[1
]}

Wang, XG ^{[1
]}

Qin, F ^{[1
]}

机构：

[1] E China Univ Met, Anhui 243002, Peoples R China

来源：

PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5 | 2000年

关键词：

robot; trajectory planning; spline function;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new method for trajectory planning of robot manipulators by using spline function approach. The motion of each joint of robot is specified by a set of spline functions. The method is simple and has less computation amount. In addition, the singular-point problems can not appear in the proposed method. So the method can be used to generate a smooth, steady and noiseless trajectory of robots.

引用

页码：1215 / 1219

页数：5