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Planning and real-time modifications of a trajectory using spline techniques

Published online by Cambridge University Press:  02 March 2021

Eva Dyllong  and
Antonio Visioli
Eva Dyllong*
Affiliation:
Department of Computer Science, University of Duisburg (Germany)
Antonio Visioli*
Affiliation:
Dipartimento di Elettronica per l’Automazione, University of Brescia, Via Branze 38, I-25123 Brescia (Italy). Tel.: +39–030–3715460; Fax: +39–030–380014
*
Email: dyllong@informatik.uni-duisburg.de
Email: visioli@ing.unibs.it
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Summary

In this paper, methods based on various spline techniques for planning and fast modifications of a trajectory for robot manipulators are investigated. Algebraic and trigonometric splines, their combined use, and the use of the B-spline technique are analyzed and compared in detail. In so doing, we focus on the performance of sudden changes in a predefined trajectory, e.g. obstacle avoidance in real-time applications. Some comparative examples illustrate our results.

Keywords

Robot manipulatorsTrajectory planningAlgebraic splinesB-splinesTrigonometric splines
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 475 - 482
Copyright
Copyright © Cambridge University Press 2003

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