The generation and optimization of trigonometric joint trajectories for robotic manipulators

D. Simon, C. Isik

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

A method of manipulator path planning is presented, and a trajectory interpolation algorithm is given. Closed-form and numerical path optimization methods are discussed. This new method consists of the use of trigonometric splines of order 4. Continuity of the first 3 derivatives is ensured, and the first 3 derivatives at the endpoints can be constrained to any desired value. Trigonometric splines are computationally less expensive than algebraic splines, because there is no need to solve a set of simultaneous linear equations. The derivatives of a trigonometric spline are generally much lower than the derivatives of the corresponding algebraic spline. Trigonometric polynomials are very smooth functions due to the orthogonality of cosine and sine terms.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Editors Anon
PublisherPubl by American Automatic Control Council
Pages2027-2032
Number of pages6
ISBN (Print)0879425652
StatePublished - Dec 1 1991
EventProceedings of the 1991 American Control Conference - Boston, MA, USA
Duration: Jun 26 1991Jun 28 1991

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Other

OtherProceedings of the 1991 American Control Conference
CityBoston, MA, USA
Period6/26/916/28/91

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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