Solving robot trajectory planning problems with uniform cubic B‐splines

DOI10.1002/OCA.4660120404MaRDI QIDQ4030252zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

uniform cubic \(B\)-spines

Mathematics Subject Classification ID

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

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Cites work

• A practical guide to splines

Cited in

(13)

• \(C^2\)-continuous orientation planning for robot end-effector with B-spline curve based on logarithmic quaternion
• 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
• Application of cubic smoothing splines to the optimal control problem of the motion of a bipedal walking robot
• Energy-optimal trajectory planning for the Pendubot and the Acrobot
• A research of the obstacle-avoiding problem using the minimum variation B-spline
• Path planning for a double pendulum using natural splines on the torus
• Constrained minimum-time path planning for robot manipulators via virtual knots of the cubic B-spline functions
• A spline optimization problem from robotics
• Path planning for robots under stochastic uncertainty^*
• Effect of tension parameters and intervals on splines‐under‐tension based robot trajectory planning
• Time optimal trajectory planning based on quadratic B-spline
• Tools for robotic trajectory planning using cubic splines and semi-infinite programming
• Optimal trajectory planning and smoothing splines

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