Cartesian trajectory generation under bounded position deviation

In this paper two techniques for manipulator Cartesian trajectory generation are presented. These techniques generate an approximation of a given robot hand trajectory under bounded position deviation. The maximum allowed deviation is specified by the robot operator according to the accuracy require...

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Bibliographic Details
Published in:Mechanism and machine theory 1998-08, Vol.33 (6), p.697-709
Main Author: Aspragathos, N.A.
Format: Article
Language:English
Subjects:
Applied sciences
Drives
Exact sciences and technology
Linkage mechanisms, cams
Mechanical engineering. Machine design
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Summary:In this paper two techniques for manipulator Cartesian trajectory generation are presented. These techniques generate an approximation of a given robot hand trajectory under bounded position deviation. The maximum allowed deviation is specified by the robot operator according to the accuracy requirements of the robot application. The first technique based on bisection pattern determines enough knot points on a given Cartesian curve in order to generate a Cartesian trajectory of the hand tip of a manipulator under bounded position deviation. The second one based on raster scanning finds a minimal set of knot points on a given Cartesian curve in order to generate a Cartesian trajectory with bounded position approximation error. Between two successive knot points, a large number of well-known spline functions for interpolation in the joint co-ordinates space can be used. The algorithms are analysed and the results obtained by a program simulating a PUMA manipulator are discussed.
ISSN:0094-114X
1873-3999
DOI:10.1016/S0094-114X(97)00052-9