Bounded error interpolates for manipulators with prismatic and revolute joints

An algorithm for interpolating workspace trajectories in the joint space of a manipulator having revolute and prismatic joints is described. This algorithm relies on bounds on the derivatives of the kinematic map of such a manipulator derived by the authors (ibid., vol.3, p.1744-9). The algorithm generates interpolates such that user-specified tolerances on position, velocity and acceleration are maintained. This is the first joint space interpolation algorithm to guarantee workspace error bounds on velocity and acceleration. The algorithm includes the prismatic case, which is also novel, and it takes into account factors beyond kinematic errors, making it a practical addition to a robotic manipulator system