Optimal online robot trajectory generation in Cartesian space

Shafat Ahmed Bazaz; Bertrand Tondu

doi:10.1117/12.294419

9 December 1997 Optimal online robot trajectory generation in Cartesian space

Shafat Ahmed Bazaz, Bertrand Tondu

Proceedings Volume 3203, Architectures, Networks, and Intelligent Systems for Manufacturing Integration; (1997) https://doi.org/10.1117/12.294419
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

We propose the use of cubic quadratic cubic squared (CQCS) spline for the trajectory generation in Cartesian space. Use of CQCS spline gives simple analytical solution to minimum time trajectory generation with velocity and acceleration constraints. The expressions for wandering time and wandering acceleration are also calculated. A straight line path with constant maximum allowed speed in minimum time can be generated with this method. This property leads to interpolate two position points by constant speed straight line motion with smooth transition. The advantage of this method is that the trajectory thus obtained is traversed in minimum time while passing through the given intermediate points. The simplicity of this method makes its on-line computation possible.

Citation Download Citation

Shafat Ahmed Bazaz and Bertrand Tondu "Optimal online robot trajectory generation in Cartesian space", Proc. SPIE 3203, Architectures, Networks, and Intelligent Systems for Manufacturing Integration, (9 December 1997); https://doi.org/10.1117/12.294419

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