“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.

PDF PDF (1019 Kb)        DOI: 10.4173/mic.1987.3.1

DOI 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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  title={{The Planning of Straight Line Trajectory in Robotics Using Interactive Graphics}},
  author={Wang, Kesheng and Lien, Terje K.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}