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
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;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863437
