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Data reduction for manipulator path planning

Published online by Cambridge University Press:  24 October 2003

Werner Korb  and
Inge Troch
Werner Korb
Affiliation:
University of Heidelberg (Dept. for Maxillofacial Surgery), Im Neuenheimer Feld 400, D-69120 Heidelberg (Germany).werner_korb@med.uni-heidelberg.de
Inge Troch
Affiliation:
Vienna University of Technology (Institüt für Analysis und Technische Mathematik); Wiedner Haupstr. 8–10/114; A-1040 Vienna (Austria).inge.troch@tuwien.ac.at
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Abstract

Today, in robot applications continuous paths often result from CAD or other planning tools. We present here an approach to the question that has been discussed for a long time, i.e. how to approximate a given path by a second one in such a way that the latter lies in a tube of given radius ε around the first. The approximation should be a (normally cubic) spline with a small number of breakpoints. The strategy is based on algorithms used in “computer aided geometric design” and is applied to examples from industrial and surgical robotics.

Keywords

Path planningData reductionB-splineMathematical optimizationSpline interpolationKinematicsSurgical robot
Type
Research Article
Information
Robotica , Volume 21 , Issue 6 , December 2003 , pp. 605 - 614
Copyright
© 2003 Cambridge University Press

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