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Optimal trigonometric robot joint trajectories

Published online by Cambridge University Press:  09 March 2009

Dan Simon  and
Can Isik
Dan Simon
Affiliation:
121 Link Hall, Department of Electrical Engineering, Syracuse University, Syracuse, NY 13244-1240 (USA)
Can Isik
Affiliation:
121 Link Hall, Department of Electrical Engineering, Syracuse University, Syracuse, NY 13244-1240 (USA)
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Summary

Interpolation of a robot joint trajectory is realized using trigonometric splines. This original application has several advantages over existing methods (e.g. those using algebraic splines). For example, the computational expense is lower, more constraints can be imposed on the trajectory, obstacle avoidance can be implemented in real time, and smoother trajectories are obtained. Some of the spline parameters can be chosen to minimize an objective function (e.g. minimum jerk or minimum energy). If jerk is minimized, the optimization has a closed form solution. This paper introduces a trajectory interpolation algorithm, discusses a method for path optimization, and includes examples.

Keywords

Robot path planningTrigonometric splinesOptimizationJoint trajectories

Information

Type
Article
Information
Robotica , Volume 9 , Issue 4 , December 1991 , pp. 379 - 386
Copyright
Copyright © Cambridge University Press 1991

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