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Spline-based micro accuracy joint interpolation

Published online by Cambridge University Press:  09 March 2009

P. J. Choi  and
J. A. Rice
P. J. Choi
Affiliation:
University of Illinois at Chicago, Department of Mechanical Engineering, M/C 251, 842 West Taylor Street, Chicago, IL 60607–7022 (USA)
J. A. Rice
Affiliation:
University of Illinois at Chicago, Department of Mechanical Engineering, M/C 251, 842 West Taylor Street, Chicago, IL 60607–7022 (USA)
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Summary

The concept of tension is introduced and applied to a robot's trajectories, then new joint interpolation strategies are implemented. A joint interpolation strategy is proposed which uses joint variable reference data calculated from inverse kinematics, along with a polynomial equation or quintic equation as the parametric equation of the joint variables. This method can use any polynomial equation which has the C2 continuity property and has intermediate points which pass through the reference data. For the time variable, first order linear equations can be used where the number of equations is n – 1, n being the number of points in the reference data. Due to large reductions in computational burden resulting from this form, this method may be suited for real time applications.

Keywords

Micro accuracyTensionJoint anglesContinuitySum of squares of errorsSpline curveTransformation matrix

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 1 , January 1995 , pp. 37 - 44
Copyright
Copyright © Cambridge University Press 1995

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