DocumentCode
2344748
Title
A method for trajectory planning of robot manipulators in Cartesian space
Author
Xu, Xiangrong ; Chen, Yaobin
Author_Institution
Dept. of Electr. & Comput. Eng., Purdue Univ., Indianapolis, IN, USA
Volume
2
fYear
2000
fDate
2000
Firstpage
1220
Abstract
Presents a technique for robot continuous-path motion trajectories planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0, T] is divided into m segments, and the coefficients of the polynomial at each segment can be obtained in recurrence form. The problem of minimum time trajectories planning and the determination of m are also studied in the paper
Keywords
manipulators; path planning; polynomials; Cartesian coordinates; Cartesian space; continuous-path motion; minimum time trajectories planning; robot manipulators; Acceleration; Equations; History; Manipulators; Motion planning; Orbital robotics; Path planning; Polynomials; Robot kinematics; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location
Hefei
Print_ISBN
0-7803-5995-X
Type
conf
DOI
10.1109/WCICA.2000.863437
Filename
863437
Link To Document