BOUNDED DEVIATION JOINT PATH ALGORITHMS FOR PIECEWISE CUBIC POLYNOMIAL TRAJECTORIES

被引：6

作者：

CHOI, BK ^{[1
]}

KIM, DW ^{[1
]}

机构：

[1] KOREA ADV INST SCI & TECHNOL,DEPT IND ENGN,SEOUL 131,SOUTH KOREA

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1990年 / 20卷 / 03期

关键词：

D O I：

10.1109/21.57288

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Presented are three bounded deviation joint path (BDJP) algorithms which generate only enough intermediate knots, sampled from a smooth Cartesian path, for piecewise cubic polynomial joint trajectories. The first algorithm is basically the one proposed by Taylor (1979), and is based on position transformations. The second algorithm utilizes inverse velocity transformations, and direct velocity transformations are used in the third algorithm. The proposed BDJP algorithms are aimed to be used in process applications of industrial robots, such as arc welding and contour grinding, in which the desired Cartesian paths are smooth free-formed curves and it is required to keep the manipulator acceptably close to the desired path. © 1990 IEEE

引用

页码：725 / 733

页数：9

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