Smooth trajectory generation and hybrid B-splines-quaternions based tool path interpolation for a 3T1R parallel kinematic milling robot

This paper presents a smooth trajectory generation method for a four-degree-of-freedom parallel kinematic milling robot. The proposed approach integrates B-spline and Quaternion interpolation techniques to manage decoupled position and orientation data points. The synchronization of orientation and...

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Bibliographic Details

Main Authors:	Sina Akhbari, Mehran Mahboubkhah
Format:	Default Article
Published:	2025
Subjects:	Engineering Physical sciences Smooth trajectory generation Tool path interpolation Parallel kinematic robots Minimum jerk optimization B-spline unit quaternions Piece-wise Beziers
Online Access:	https://hdl.handle.net/2134/30511142.v1
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