Manipulator Trajectory Planning Based on the Cubic Triangular Bezier Spline

被引：3

作者：

Wang, Yan-jun ^{[1
]}

Xu, Wen-long ^{[2
]}

Sun, Nong-liang ^{[1
]}

机构：

[1] Shandong Univ Sci & Technol, Coll Informat & Elect Engn, Qingdao, Shandong, Peoples R China

[2] Shandong Univ Sci & Technol, Coll Civil Engn & Architecture, Qingdao, Shandong, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

manipulator; cubic triangular Bezier spline; trajectory planning;

D O I：

10.1109/WCICA.2010.5554247

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The cubic triangular Bezier spline (CTBS) inherits the advantages of Bezier curves and trigonometric function, with the second and the third derivative being continuous. Planning manipulator trajectory with CTBS, we can easily interpolate data points. Consequently, manipulator joint space can be achieved continuous displacement, continuous angular velocity, continuous angular acceleration, and good smoothness, leading to a smooth and continuous manipulator movements. This method approved to be feasible by the experimental results, meets the requirements of the manipulator.

引用

页码：6485 / 6488

页数：4