Cart (Loading....) | Create Account
Close category search window

Online approximate Cartesian path trajectory planning for robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Yeong-Hwa Chang ; Dept. of Electr. Eng., Chung-Cheng Inst. of Technol., Tao-Yung ; Tsu-Tian Lee ; Chang-Huan Liu

To achieve online Cartesian space trajectory planning, the authors present methods for approximating Cartesian paths by recursive joint trajectories. Systematic procedures are proposed for approximating an arbitrary smooth Cartesian path by concatenated line segments and for selecting intermediate knot points along the line segments. Two recursive joint trajectory planning algorithms are derived using quartic spline interpolation. The proposed approach is illustrated by a numerical example

Published in:

Systems, Man and Cybernetics, IEEE Transactions on  (Volume:22 ,  Issue: 3 )

Date of Publication:

May/Jun 1992

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.