3-cubic spline for on-line Cartesian space trajectory planning of an industrial manipulator

On-Line trajectory generation method makes the manipulator programming easier, requires less input data and minimum delay in executing the motion thus reducing manipulator's down time and gives certain autonomy to the manipulator. The basic requirement for this trajectory generation becomes the use of trajectory generation algorithms having short calculation time with analytical solutions. In this paper, we propose a new concept of trajectory planning method so that the trajectory generation may be possible on-line and interactively using 3-Cubic spline method.