“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
References:
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[3] GPGS-F users guide (1984). NORSIGD, TAPIR, Trondheim-NTH, Norway.
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[5] NEWMAN, W.M. SPROLL, R.F. (1983). Principles of interactive computer graphics, McGraw-Hill.
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[10] WHITNEY, D.E. (1969). Resolved motion rate control of manipulators and human prostheses, IEEE Trans. Man-Machine Systems, 10, pp. 47-53 doi:10.1109/TMMS.1969.299896


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}
};