On Path Planning and Optimization using Splines
2003 (English)Report (Other academic)
This report covers many aspects of path and trajectory generation for industrial robots. Path generation in Cartesian space is discussed, with the limitation that only linear motion is considered. Path generation in joint space is also discussed and in particular representation of the joint path using cubic splines is presented. Different algorithms for spline generation are also discussed and tested on an example.The last step, the trajectory generation is also covered. Two preliminary algorithms that gives limited speed and acceleration in Cartesian space and in joint space are given. It is also indicated that there is more to be done in order to reach an optimal trajectory. At the end of the report a simple spline toolbox for MatLab is described.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. , 28 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2490
path planning, trajectory generation, cubic spline, carte sian space, joint space
IdentifiersURN: urn:nbn:se:liu:diva-55908ISRN: LiTH-ISY-R-2490OAI: oai:DiVA.org:liu-55908DiVA: diva2:316623