Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint
نویسندگان
چکیده
منابع مشابه
Interpolation by G quintic Pythagorean-hodograph curves
In this paper, the G interpolation by Pythagorean-hodograph (PH) quintic curves in R, d ≥ 2, is considered. The obtained results turn out as a useful tool in practical applications. Independently of the dimension d, they supply a G quintic PH spline that locally interpolates two points, two tangent directions and two curvature vectors at these points. The interpolation problem considered is red...
متن کاملInterpolation by G quintic Pythagorean-hodograph curves in R
In this paper a G2 continuous geometric interpolation of Hermite data by Pythagoreanhodograph (PH) quintic curves in Rd is considered. For two sets of appropriate Hermite data (tangent directions and curvature vectors) at two distinct points a PH quintic which interpolates given data geometrically is sought. The problem reduces to solving a system of nonlinear algebraic equations involving only...
متن کاملPythagorean-hodograph cycloidal curves
In the paper, Pythagorean-hodograph cycloidal curves as an extension of PH cubics are introduced. Their properties are examined and a constructive geometric characterization is established. Further, PHC curves are applied in the Hermite interpolation, with closed form solutions been determined. The asymptotic approximation order analysis carried out indicates clearly which interpolatory curve s...
متن کاملGeneralising the planar Pythagorean-hodograph quintic spiral
Abstract Spiral segments are useful in the design of fair curves. They are important in CAD/CAM applications, the design of highway and railway routes, trajectories of mobile robots and other similar applications. The quintic Pythagorean hodograph (PH) curve discussed in this technical report is polynomial; it has the attractive properties that its arc-length is a polynomial of its parameter, a...
متن کاملEmploying Pythagorean Hodograph Curves for Artistic Patterns
In this paper we will present a novel design element creator tool for the digital artist. The purpose of our tool is to support the creation of vines, swirls, swooshes and floral components. To create visually pleasing and gentle curves we employ Pythagorean Hodograph quintic curves to join a hierarchy of control circles defined by the user. The control circles are joined by spiral segments wit...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Applied Sciences
سال: 2019
ISSN: 2076-3417
DOI: 10.3390/app9214491