### 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 language | English (US) |
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Title of host publication | Proceedings of the American Control Conference |

Editors | Anon |

Publisher | Publ by American Automatic Control Council |

Pages | 2027-2032 |

Number of pages | 6 |

ISBN (Print) | 0879425652 |

State | Published - Dec 1 1991 |

Event | Proceedings of the 1991 American Control Conference - Boston, MA, USA Duration: Jun 26 1991 → Jun 28 1991 |

### Publication series

Name | Proceedings of the American Control Conference |
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Volume | 2 |

ISSN (Print) | 0743-1619 |

### Other

Other | Proceedings of the 1991 American Control Conference |
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City | Boston, MA, USA |

Period | 6/26/91 → 6/28/91 |

### ASJC Scopus subject areas

- Electrical and Electronic Engineering

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## Cite this

*Proceedings of the American Control Conference*(pp. 2027-2032). (Proceedings of the American Control Conference; Vol. 2). Publ by American Automatic Control Council.