The synthesis of smooth trajectories for pick-and-place operations

A spline-based method of programming smooth trajectories for pick-and-place operations is introduced. Unlike continuous-path operations, which impose a unique Cartesian trajectory, an infinite number of smooth trajectories can be described between any given pick and its corresponding place configura...

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Bibliographic Details
Published in:IEEE transactions on systems, man, and cybernetics man, and cybernetics, 1988-01, Vol.18 (1), p.173-178
Main Authors: Angeles, J., Alivizatos, A., Zsombor-Murray, P.J.
Format: Article
Language:English
Subjects:
Applied sciences
Displays
Exact sciences and technology
Graphics
Kinematics
Machinery production industries
Material handling, hoisting. Storage. Packaging
Packaging
Polynomials
Robot motion
Service robots
Spline
Trajectory
Transfert equipment, manipulators
industrial robots
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Summary:A spline-based method of programming smooth trajectories for pick-and-place operations is introduced. Unlike continuous-path operations, which impose a unique Cartesian trajectory, an infinite number of smooth trajectories can be described between any given pick and its corresponding place configuration. The method begins with the mapping of the pick and the place configuration in Cartesian space into joint-coordinate space, using a general-purpose inverse kinematics package that handles singularities and redundancies. Next, a trajectory, composed of a C/sup 2/-continuous, periodic cubic spline segment, is defined between the pick and the place configurations in the joint-coordinate space. It is demonstrated that C/sup 2/-continuity will prevail in Cartesian space as well. The software implementing this method includes a graphics package as well as an interface to an offline programming system to realize the synthesis of the actual robot motion. Details of the procedure are illustrated with a numerical example applied to a commercial industrial robot.< >
ISSN:0018-9472
2168-2909
DOI:10.1109/21.87066