A TRIGONOMETRIC TRAJECTORY GENERATOR FOR ROBOTIC ARMS

被引：47
|
作者：
SIMON, D [1 ]
ISIK, C [1 ]
机构：
[1] SYRACUSE UNIV,DEPT ELECT ENGN,SYRACUSE,NY 13244
来源：
INTERNATIONAL JOURNAL OF CONTROL | 1993年 / 57卷 / 03期
关键词：
D O I：
10.1080/00207179308934404
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Interpolation of a robot joint trajectory is realized using trigonometric splines. This method is based on the assumption that joint-space knots have been generated from cartesian knots by an inverse kinematics algorithm. The use of trigonometric splines results in smooth joint trajectories and is amenable to real-time obstacle avoidance. Some of the spline parameters can be chosen to minimize an objective function (e.g. jerk or energy). If the objective function is minimum jerk, a closed-form solution is obtained. This paper introduces a trajectory interpolation algorithm, discusses a method for trajectory optimization, and includes simulation examples.
引用
收藏
页码：505 / 517
页数：13
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