Trajectory Planning: Continuous-Path Operations

1997 ◽  
pp. 355-392
Author(s):  
Jorge Angeles
Keyword(s):  
Trajectory Planning ◽  
Continuous Path

Optimal Continuous Path Planning for Seven-Degrees-of-Freedom Robots

1986 ◽  
Vol 108 (3) ◽  
pp. 213-218 ◽  
Author(s):  
B. Benhabib ◽  
A. A. Goldenberg ◽  
R. G. Fenton
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Polynomial Interpolation ◽  
Continuous Path ◽  
End Effector ◽  
Joint Level ◽  
Redundant Robots ◽  
Planning And Control ◽  
Optimization Search

The paper addresses the problem of end effector trajectory planning and control of seven degrees of freedom (DOF) kinematically redundant robots. An off-line optimal continuous path planning method is developed for on-line control at joint level. The specified end effector path is approximated by a set of location nodes selected on the desired path. The motion control of the robot is provided by cubic polynomial interpolation at joint level. The proposed approach to trajectory planning of kinematically redundant robots consists of obtaining an optimal set of nodes which guarantees minimum deviation from the desired Cartesian path. The redundant DOF of the robot is used as a constrained variable in the optimization search. The method is illustrated in an example.

scholarly journals Trajectory planning in robotic continuous-path applications

1988 ◽  
Vol 4 (4) ◽  
pp. 380-385 ◽  
Author(s):  
J. Angeles ◽  
A. Rojas ◽  
C.S. Lopez-Cajun
Keyword(s):  
Trajectory Planning ◽  
Continuous Path
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