“The Planning of Straight Line Trajectory in Robotics Using Interactive Graphics”
Authors: Kesheng Wang and Terje K. Lien,Affiliation: SINTEF
Reference: 1987, Vol 8, No 3, pp. 125-135.
Keywords: Robotics, trajectory planning, robot motion, simulation
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 presented.
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DOI: 10.4173/mic.1987.3.1DOI forward links to this article:
| [1] Kesheng Wang (1988), doi:10.1016/0166-3615(88)90016-4 |
| [2] Per E. Koch and Kesheng Wang (1988), doi:10.4173/mic.1988.2.2 |
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BibTeX:
@article{MIC-1987-3-1,
title={{The Planning of Straight Line Trajectory in Robotics Using Interactive Graphics}},
author={Wang, Kesheng and Lien, Terje K.},
journal={Modeling, Identification and Control},
volume={8},
number={3},
pages={125--135},
year={1987},
doi={10.4173/mic.1987.3.1},
publisher={Norwegian Society of Automatic Control}
};