Path Generation for Industrial Robots
2003 (English)Report (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
Linköping: Linköping University Electronic Press, 2003. , 6 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2529
Zone interpolation, Cartesian path, Joint path, Cubic splines
IdentifiersURN: urn:nbn:se:liu:diva-55949ISRN: LiTH-ISY-R-2529OAI: oai:DiVA.org:liu-55949DiVA: diva2:316790