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bezier repre-sentation

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On-line polynomial path planning in Cartesian space for robot manipulators
Cyrille Froissart, Pierre Mechler†
Journal:

Robotica / Volume 11 / Issue 3 / May 1993

Published online by Cambridge University Press:

09 March 2009, pp. 245-251
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A method is presented to perform path planning in the Cartesian space. The motion velocity and acceleration are continuous. This is the first polynomial path planning algorithm in the Cartesian space working in real-time; it does not need an advanced knowledge of the trajectory and can be used when knot points are provided on-line by a sensor. The Bézier representation is used to compute a fifth degree polynomial path. It has been tested on an industrial robot controller.