Bounded deviation trajectory interpolation for robot manipulators

An algorithm for interpolating workspace trajectories in the jointspace of a manipulator having revolute joints is described. The algorithm generates an interpolation so that a user-specified tolerance is maintained. In the process of developing this algorithm, it is shown that a particular induced pseudonorm of the Jacobian is bounded by the length of the manipulator and that a similar result holds for all derivatives of the forward kinematic map. The bounds obtained are used in the error analysis of the interpolation algorithm