On-Line Approximate Cartesian Path Trajectory Planning for Robotic Manipulators

Yeong Hwa Chang; Tsu Tian Lee; Chang Huan Liu

doi:10.1109/21.155953

On-Line Approximate Cartesian Path Trajectory Planning for Robotic Manipulators

Yeong Hwa Chang, Tsu Tian Lee, Chang Huan Liu

Research output: Contribution to journal › Journal Article › peer-review

13 Scopus citations

Abstract

To achieve online Cartesian space trajectory planning, the paper presents methods for approximating Cartesian paths by recursive joint trajectories. Systematic procedures are proposed for approximating an arbitrary smooth Cartesian path by concatenated line segments and for selecting intermediate knot points along the line segments. Two recursive joint trajectory planning algorithms are derived using quartic spline interpolation. The proposed approach is illustrated by a numerical example.

Original language	English
Pages (from-to)	542-547
Number of pages	6
Journal	IEEE Transactions on Systems, Man and Cybernetics
Volume	22
Issue number	3
DOIs	https://doi.org/10.1109/21.155953
State	Published - 1992
Externally published	Yes

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title = "On-Line Approximate Cartesian Path Trajectory Planning for Robotic Manipulators",

abstract = "To achieve online Cartesian space trajectory planning, the paper presents methods for approximating Cartesian paths by recursive joint trajectories. Systematic procedures are proposed for approximating an arbitrary smooth Cartesian path by concatenated line segments and for selecting intermediate knot points along the line segments. Two recursive joint trajectory planning algorithms are derived using quartic spline interpolation. The proposed approach is illustrated by a numerical example.",

author = "Chang, {Yeong Hwa} and Lee, {Tsu Tian} and Liu, {Chang Huan}",

year = "1992",

doi = "10.1109/21.155953",

language = "英语",

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journal = "IEEE Transactions on Systems, Man and Cybernetics",

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AU - Chang, Yeong Hwa

AU - Lee, Tsu Tian

AU - Liu, Chang Huan

PY - 1992

Y1 - 1992

N2 - To achieve online Cartesian space trajectory planning, the paper presents methods for approximating Cartesian paths by recursive joint trajectories. Systematic procedures are proposed for approximating an arbitrary smooth Cartesian path by concatenated line segments and for selecting intermediate knot points along the line segments. Two recursive joint trajectory planning algorithms are derived using quartic spline interpolation. The proposed approach is illustrated by a numerical example.

AB - To achieve online Cartesian space trajectory planning, the paper presents methods for approximating Cartesian paths by recursive joint trajectories. Systematic procedures are proposed for approximating an arbitrary smooth Cartesian path by concatenated line segments and for selecting intermediate knot points along the line segments. Two recursive joint trajectory planning algorithms are derived using quartic spline interpolation. The proposed approach is illustrated by a numerical example.

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U2 - 10.1109/21.155953

DO - 10.1109/21.155953

M3 - 文章

AN - SCOPUS:0026855346

SN - 0018-9472

VL - 22

SP - 542

EP - 547

JO - IEEE Transactions on Systems, Man and Cybernetics

JF - IEEE Transactions on Systems, Man and Cybernetics

IS - 3

ER -

On-Line Approximate Cartesian Path Trajectory Planning for Robotic Manipulators

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