Optimal trigonometric robot joint trajectories

Dan Simon, Can Isik

Research output: Contribution to journalArticlepeer-review

44 Scopus citations


Interpolation of a robot joint trajectory is realized using trigonometric splines. This original application has several advantages over existing methods (e.g. those using algebraic splines). For example, the computational expense is lower, more constraints can be imposed on the trajectory, obstacle avoidance can be implemented in real time, and smoother trajectories are obtained. Some of the spline parameters can be chosen to minimize an objective function (e.g. minimum jerk or minimum energy). If jerk is minimized, the optimization has a closed form solution. This paper introduces a trajectory interpolation algorithm, discusses a method for path optimization, and includes examples.

Original languageEnglish (US)
Pages (from-to)379-386
Number of pages8
Issue number4
StatePublished - Dec 1991


  • Joint trajectories
  • Optimization
  • Robot path planning
  • Trigonometric splines

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Rehabilitation
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Computational Mechanics
  • General Mathematics
  • Modeling and Simulation


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