Path Generation for Industrial Robots
2003 (English)In: Proceedings of Mekatronikmöte 2003, 2003Conference paper (Other academic)
Path generation in Cartesian space is discussed and the idea of using lines and arcs to create general paths is presented. To make smooth paths in Cartesian space zones are introduced and two different ways to interpolate zones are given. An algorithm for transforming a Cartesian path into a cubic spline representation in joint space is presented and also evaluated in an example. An important aspect of the proposed algorithm is that the resulting path in joint-space has a bounded Cartesian space error.
Place, publisher, year, edition, pages
Zone interpolation, Cartesian path, Joint path, Cubic splines
National CategoryEngineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29587Local ID: 14965OAI: oai:DiVA.org:liu-29587DiVA: diva2:250404
Mekatronikmöte 2003, Göteborg, Sweden, August, 2003