End Effector Path Generation

DOI10.1115/1.3143761MaRDI QIDQ3720379zbMATH OpenOpenAlexFDO

Authors Andrew A. Goldenberg, D. L. Lawrence

Publication date 1986

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

Full work available at URL https://doi.org/10.1115/1.3143761

zbMATH Keywords

end effectorfirst order approximation of the actual pathrobotic manipulatorthird order (cubic) interpolating polynomials

Mathematics Subject Classification ID

Numerical interpolation (65D05) Numerical computation using splines (65D07) Control of mechanical systems (70Q05) Model systems in control theory (93C99)

Recommendations

• A new approach of joint trajectories for Cartesian path approximation of mechanical manipulators
• Joint trajectories of mechanical manipulators for Cartesian path approximation
• Cartesian trajectory generation under bounded position deviation.
• Trajectory-planning through interpolation by overlapping cubic arcs and cubic splines
• Following 3D paths by a manipulator

Cited in

(5)

• A new approach of joint trajectories for Cartesian path approximation of mechanical manipulators
• Cartesian trajectory generation under bounded position deviation.
• Joint trajectories of mechanical manipulators for Cartesian path approximation
• A path planning approach of 3D manipulators using zenithal gnomic projection and polar piecewise interpolation
• Following 3D paths by a manipulator

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