A path planning approach of 3D manipulators using zenithal gnomic projection and polar piecewise interpolation

DOI10.1002/MMA.4790zbMATH Open1469.70005OpenAlexW2793279989MaRDI QIDQ4611083FDOQ4611083

Authors: Mihai Dupac 

Publication date: 24 January 2019

Published in: Mathematical Methods in the Applied Sciences (Search for Journal in Brave)

Full work available at URL: http://eprints.bournemouth.ac.uk/30347/1/Paper%20M%20Dupac%20MMAS%20R1.pdf

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zbMATH Keywords

dynamicskinematicstrajectory planningpiecewise interpolation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Numerical methods for initial value problems involving ordinary differential equations (65L05)

Cited In (2)

• Time‐delay compensation‐based robust control of mechanical manipulators: Operator‐theoretic analysis and experiment validation
• Mathematical modeling and simulation of the inverse kinematic of a redundant robotic manipulator using azimuthal angles and spherical polar piecewise interpolation

Uses Software

• Matlab

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