Hostname: page-component-78c5997874-94fs2 Total loading time: 0 Render date: 2024-11-10T21:56:04.772Z Has data issue: false hasContentIssue false
  • English
  • Français

Algorithms of trajectory planning with constrained deviation from a given end-effector path

Published online by Cambridge University Press:  15 November 2004

Ignacy Dulȩba  and
Iwona Karcz–Dulȩba
Ignacy Dulȩba
Affiliation:
Institute of Engineering Cybernetics, Wrocław University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw (Poland) E-mail: iwd@ict.pwr.wroc.plkdiwona@ict.pwr.wroc.pl
Iwona Karcz–Dulȩba
Affiliation:
Institute of Engineering Cybernetics, Wrocław University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw (Poland) E-mail: iwd@ict.pwr.wroc.plkdiwona@ict.pwr.wroc.pl
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper two well known and two new methods, and corresponding algorithms, of trajectory planning with a constrained end-effector path tracking error are presented and compared. They are: an exact path following method, the Taylor's algorithm of following a straight line with prescribed accuracy, a local optimization method, and a method of local trajectory shortening. It appears that the last two methods provide path following with a prescribed accuracy while keeping a planned trajectory as short as possible. Presented algorithms can extend robot programming languages with a tool of trajectory planning.

Keywords

Manipulatortrajectory planningoptimizationalgorithm
Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004 , pp. 633 - 642
Copyright
© 2004 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)