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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)Report (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
Linköping: Linköping University Electronic Press, 2003. , 6 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2529
Keyword [en]
Zone interpolation, Cartesian path, Joint path, Cubic splines
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55949ISRN: LiTH-ISY-R-2529OAI: oai:DiVA.org:liu-55949DiVA: diva2:316790
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-08Bibliographically approved

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fulltext(284 kB)246 downloads
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Nyström, MariaNorrlöf, Mikael

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf