OPTIMAL TRIGONOMETRIC ROBOT JOINT TRAJECTORIES

被引：38

作者：

SIMON, D

ISIK, C

机构：

[1] Department of Electrical Engineering, Syracuse University, Syracuse, NY 13244-1240

来源：

ROBOTICA | 1991年 / 9卷

关键词：

ROBOT PATH PLANNING; TRIGONOMETRIC SPLINES; OPTIMIZATION; JOINT TRAJECTORIES;

D O I：

10.1017/S0263574700000552

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：379 / 386

页数：8

共 15 条

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