Formulation and optimization of cubic polynomial joint trajectories for industrial robots

DOI10.1109/TAC.1983.1103181zbMath0525.93035MaRDI QIDQ3041032

Chunshin Lin, Porong Chang, J. Y. S. Luh

Publication date: 1983

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

zbMATH Keywords

cubic splinesindustrial robottravelingcubic polynomial joint trajectories

Mathematics Subject Classification ID

Numerical computation using splines (65D07) Numerical smoothing, curve fitting (65D10) Numerical optimization and variational techniques (65K10) Nonlinear systems in control theory (93C10) Forced motions for nonlinear problems in mechanics (70K40) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Methods of reduced gradient type (90C52)

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