Path generation for industrial robots, Report no. 2529
نویسندگان
چکیده
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.
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تاریخ انتشار 2003