The Planning of Straight Line Trajectory in Robotics Using Interactive Graphics
Open Access
- 1 January 1987
- journal article
- Published by Norwegian Society of Automatic Control in Modeling, Identification and Control: A Norwegian Research Bulletin
- Vol. 8 (3) , 125-135
- https://doi.org/10.4173/mic.1987.3.1
Abstract
The planning of straight line trajectory using the interactive computer graphics simulation of robot manipulator movement is discussed. This new approach to straight line motion planning improves the 'bound deviation joint paths' developed by R. M. Taylor (1979). The new approach has three characteristics: (1) linear interpolation in joint space; (2) unequal intervals for interpolating knot points; (3) using interactive computer graphics to assure that the maximum deviation in the whole segment is less than the pre-specified values. The structure and mathematical basis of a computer program developed for this purpose are presentedKeywords
This publication has 2 references indexed in Scilit:
- Manipulator Cartesian Path ControlIEEE Transactions on Systems, Man, and Cybernetics, 1979
- Resolved Motion Rate Control of Manipulators and Human ProsthesesIEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE Transactions on Cybernetics, and IEEE Transactions on Human-Machine Systems, 1969