CARTESIAN SPLINE INTERPOLATION FOR INDUSTRIAL ROBOTS

We describe an algorithm for interpolation of positions by a rational spline motion. A reparameterization of the resulting motion is applied in order to achieve the desired distribution of the velocity. For the ease of presentation we discuss trapezoidal velocity profiles, i.e. p iecewise constant and linear velocity distribution. The method can be generalized to more general velocity profiles. The whole spline scheme possesses some special features which make it a suitable tool for the control of industrial robots. (C) 1998 Elsevier Science Ltd. All righ ts reserved.