TY - GEN

T1 - The generation and optimization of trigonometric joint trajectories for robotic manipulators

AU - Simon, D.

AU - Isik, C.

PY - 1991

Y1 - 1991

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0026382235&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0026382235&partnerID=8YFLogxK

U2 - 10.23919/acc.1991.4791753

DO - 10.23919/acc.1991.4791753

M3 - Conference contribution

AN - SCOPUS:0026382235

SN - 0879425652

SN - 9780879425654

T3 - Proceedings of the American Control Conference

SP - 2027

EP - 2032

BT - Proceedings of the American Control Conference

PB - Publ by American Automatic Control Council

T2 - Proceedings of the 1991 American Control Conference

Y2 - 26 June 1991 through 28 June 1991

ER -