Solving robot trajectory planning problems with uniform cubic B‐splines

DOI10.1002/OCA.4660120404zbMATH Open0778.93078OpenAlexW1987174424MaRDI QIDQ4030252FDOQ4030252

Authors: Yaochon Chen 

Publication date: 1 April 1993

Published in: Optimal Control Applications \& Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.4660120404

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zbMATH Keywords

uniform cubic \(B\)-spines

Mathematics Subject Classification ID

Spline approximation (41A15) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• A practical guide to splines

Cited In (12)

• Path planning for a double pendulum using natural splines on the torus
• Application of cubic smoothing splines to the optimal control problem of the motion of a bipedal walking robot
• Optimal trajectory planning and smoothing splines
• A research of the obstacle-avoiding problem using the minimum variation B-spline
• Path planning for robots under stochastic uncertainty^*
• Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
• Constrained minimum-time path planning for robot manipulators via virtual knots of the cubic B-spline functions
• Tools for robotic trajectory planning using cubic splines and semi-infinite programming
• Energy-optimal trajectory planning for the Pendubot and the Acrobot
• Time optimal trajectory planning based on quadratic B-spline
• A spline optimization problem from robotics
• \(C^2\)-continuous orientation planning for robot end-effector with B-spline curve based on logarithmic quaternion

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