DocumentCode
3376006
Title
A method for on-line trajectory planning of robot manipulators in Cartesian space
Author
Xu, Xiang-Rong ; Chung, Won-Jee ; Choi, Young-Hyu
Author_Institution
Dept. of Mech. Design & Manuf., Chang-Won Nat. Univ., Changwon, South Korea
fYear
1999
fDate
1999
Firstpage
41
Lastpage
46
Abstract
This paper presents a technique for robot continuous-path motion trajectories planning. The Cartesian path is specified by a group of parameter equations in Cartesian coordinates. The time interval [0, T] is divided into m segments, and the coefficients of 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
industrial manipulators; manipulator dynamics; path planning; Cartesian space; continuous-path motion trajectories; minimum-time trajectories planning; on-line trajectory planning; parameter equations; polynomial coefficients; recurrence form; robot manipulators; time interval; Acceleration; Equations; History; Manipulators; Motion planning; Orbital robotics; Path planning; Polynomials; Robot kinematics; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation, 1999. CIRA '99. Proceedings. 1999 IEEE International Symposium on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-5806-6
Type
conf
DOI
10.1109/CIRA.1999.809944
Filename
809944
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