Design of a Controlled Spatial Curve Trajectory for Robot Manipulations

DOI10.1115/1.2896372MaRDI QIDQ3986199zbMATH OpenOpenAlexFDO

Authors Chihaur Wu, Chicheng Jou

Publication date 27 June 1992

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.2896372

zbMATH Keywords

cubic splinespath geometry planningrobot manipulatorsrobot motion planningspeed planning

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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(10)

• Planning motion trace of robot by spinor method
• Velocity distribution profile for robot arm motion using rational frenet-serret curves
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• Orientation planning in continuous path applications for wrist partitioned manipulators
• The method of orienting curves and its application to manipulator trajectory planning
• Calculation of industrial robot trajectory in frame composite production.
• A path planning method for robot end effector motion using the curvature theory of the ruled surfaces
• Smooth trajectory generation for rotating extensible manipulators
• The adjoint trajectory of robot end effector using the curvature theory of ruled surface
• Parameterized polynomial approach for joint space trajectory optimization of redundant space robots using modified PSO

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