On-Line Approximate Cartesian Path Trajectory Planning for Robotic Manipulators

Yeong Hwa Chang, Tsu Tian Lee, Chang Huan Liu

Research output: Contribution to journalJournal Article peer-review

13 Scopus citations


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 languageEnglish
Pages (from-to)542-547
Number of pages6
JournalIEEE Transactions on Systems, Man and Cybernetics
Issue number3
StatePublished - 1992
Externally publishedYes


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