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Path Generation for Industrial Robots
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2003 (English)In: Proceedings of Mekatronikmöte 2003, 2003Conference paper, Published paper (Other academic)
Abstract [en]

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
2003.
Keyword [en]
Zone interpolation, Cartesian path, Joint path, Cubic splines
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29587Local ID: 14965OAI: oai:DiVA.org:liu-29587DiVA: diva2:250404
Conference
Mekatronikmöte 2003, Göteborg, Sweden, August, 2003
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-04-02

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Norrlöf, Mikael

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