Abstract
Interpolation of a robot joint trajectory is realized using trigonometric splines. This method is based on the assumption that joint-space knots have been generated from cartesian knots by an inverse kinematics algorithm. The use of trigonometric splines results in smooth joint trajectories and is amenable to real-time obstacle avoidance. Some of the spline parameters can be chosen to minimize an objective function (e.g. jerk or energy). If the objective function is minimum jerk, a closed-form solution is obtained. This paper introduces a trajectory interpolation algorithm, discusses a method for trajectory optimization, and includes simulation examples.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 505-517 |
| Number of pages | 13 |
| Journal | International Journal of Control |
| Volume | 57 |
| Issue number | 3 |
| DOIs | |
| State | Published - Mar 1993 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications