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Proceedings Paper

Optimal online robot trajectory generation in Cartesian space
Author(s): Shafat Ahmed Bazaz; Bertrand Tondu
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Paper 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.

Paper Details

Date Published: 9 December 1997
PDF: 9 pages
Proc. SPIE 3203, Architectures, Networks, and Intelligent Systems for Manufacturing Integration, (9 December 1997); doi: 10.1117/12.294419
Show Author Affiliations
Shafat Ahmed Bazaz, Institut National des Sciences Appliquees de Toulouse (France)
Bertrand Tondu, Institut National des Sciences Appliquees de Toulouse (France)


Published in SPIE Proceedings Vol. 3203:
Architectures, Networks, and Intelligent Systems for Manufacturing Integration
Bhaskaran Gopalakrishnan; San Murugesan; Odo Struger; Gerfried Zeichen, Editor(s)

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