NEW APPROACH FOR ROBOT TRAJECTORY GENERATION WITH VELOCITY ACCELERATION CLIPPING CONSTRAINTS/

Authors
LEE MY STURM AJ LAVELLE D
Citation
My. Lee et al., NEW APPROACH FOR ROBOT TRAJECTORY GENERATION WITH VELOCITY ACCELERATION CLIPPING CONSTRAINTS/, Advanced robotics, 11(7), 1998, pp. 713-723
Citations number
8
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
Journal title
Advanced robotics → ACNP
ISSN journal
01691864
Volume
11
Issue
7
Year of publication
1998
Pages
713 - 723
Database
ISI
SICI code
0169-1864(1998)11:7<713:NAFRTG>2.0.ZU;2-I
Abstract
A new way for multi-axis robot trajectory planning using a single cubi c spline incorporating velocity and acceleration clipping is presented . Equations for velocity and acceleration clipping employing the cubic spline function for a single axis are derived. A robot tool-tip veloc ity vector magnitude clipping algorithm is proposed. Implementation fo r a fly-by and contour following trajectory control is discussed.