Efficient Cartesian path approximation for robots using trigonometric splines

Dan Simon, Can Isik

Research output: Contribution to journalConference Articlepeer-review

4 Scopus citations


A smooth approximation of a desired robot path can be realized by interpolating a sequence of joint-space knots with a trigonometric spline. In this paper we derive the computational effort required for the formulation of trigonometric splines and show how real-time obstacle avoidance can be implemented. The required computational expense is calculated and compared to that of algebraic splines. In addition, we demonstrate analytically that the Cartesian path error resulting from the use of trigonometric splines is inversely proportional to the number of knots if certain assumptions are satisfied. We then verify this result numerically, and extend the result numerically to cases where the given assumptions are not satisfied.

Original languageEnglish (US)
Pages (from-to)1752-1756
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1994
Externally publishedYes
EventProceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA
Duration: Jun 29 1994Jul 1 1994

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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