“Introduction of b-splines to trajectory planning for robot manipulators”
Authors: Per E. Koch and Kesheng Wang,Affiliation: NTNU and SINTEF
Reference: 1988, Vol 9, No 2, pp. 69-80.
Keywords: Robotics, trajectory planning, B-splines
Abstract: This paper describes how B-splines can be used to construct joint trajectories for robot manipulators. The motion is specified by a sequence of Cartesian knots, i.e., positions and orientations of the end effector of a robot manipulator. For a six joint robot manipulator, these Cartesian knots are transformed into six sets of joint variables, with each set corresponding to a joint. Splines, represented as linear combinations of B-splines, are used to fit the sequence of joint variables for each of the six joints. A computationally very simple, recurrence formula is used to generate the 8-splines. This approach is used for the first time to establish the mathematical model of trajectory generation for robot manipulators, and offers flexibility, computational efficiency, and a compact representation.
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DOI: 10.4173/mic.1988.2.2DOI forward links to this article:
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BibTeX:
@article{MIC-1988-2-2,
title={{Introduction of b-splines to trajectory planning for robot manipulators}},
author={Koch, Per E. and Wang, Kesheng},
journal={Modeling, Identification and Control},
volume={9},
number={2},
pages={69--80},
year={1988},
doi={10.4173/mic.1988.2.2},
publisher={Norwegian Society of Automatic Control}
};