TY - JOUR
T1 - A Trigonometric Trajectory Generator for Robotic Arms
AU - Simon, Daniel J.
AU - Isik, Can
N1 - D. Simon and C. Isik. (1993). A Trigonometric Trajectory Generator for Robotic Arms. International Journal of Control, 57(3), 505-517.
PY - 1993/1/1
Y1 - 1993/1/1
N2 - Interpolation of a robot joint trajectory is realized using trigonometric splines. This method is based on the assumption that joint-space knots have been generated from cartesian knots by an inverse kinematics algorithm. The use of trigonometric splines results in smooth joint trajectories and is amenable to real-time obstacle avoidance. Some of the spline parameters can be chosen to minimize an objective function (e.g. jerk or energy). If the objective function is minimum jerk, a closed-form solution is obtained. This paper introduces a trajectory interpolation algorithm, discusses a method for trajectory optimization, and includes simulation examples.
AB - Interpolation of a robot joint trajectory is realized using trigonometric splines. This method is based on the assumption that joint-space knots have been generated from cartesian knots by an inverse kinematics algorithm. The use of trigonometric splines results in smooth joint trajectories and is amenable to real-time obstacle avoidance. Some of the spline parameters can be chosen to minimize an objective function (e.g. jerk or energy). If the objective function is minimum jerk, a closed-form solution is obtained. This paper introduces a trajectory interpolation algorithm, discusses a method for trajectory optimization, and includes simulation examples.
UR - https://engagedscholarship.csuohio.edu/enece_facpub/131
UR - http://www.tandfonline.com/doi/abs/10.1080/00207179308934404
U2 - 10.1080/00207179308934404
DO - 10.1080/00207179308934404
M3 - Article
VL - 57
JO - International Journal of Control
JF - International Journal of Control
ER -