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On-line polynomial path planning in Cartesian space for robot manipulators

Published online by Cambridge University Press:  09 March 2009

Cyrille Froissart and
Pierre Mechler†
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Summary

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.

Keywords

Path planningCartesian spaceBezier repre-sentationRobots.

Information

Type
Research Article
Information
Robotica , Volume 11 , Issue 3 , May 1993, pp. 245 - 251
Copyright
Copyright © Cambridge University Press 1993

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