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Constrained minimum-time path planning for robot manipulators via virtual knots of the cubic B-spline functions

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2 Author(s)
C. -H. Wang ; Dept. of Electr. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan ; J. -G. Horng

The B-spline functions are used to generate the constrained minimum-time path for a robot manipulator. The interpolated path via B-spline functions is determined via a unique set of virtual knots so that the robot path can pass every intermediate knot and satisfy the boundary conditions. The local control property of the B-spline functions can also be utilized to simplify the involved computational complexities. The flexible polyhedron search algorithm is used to generate the near minimum-time path with velocity, acceleration, and jerk constraints on every intermediate point. This approach can simplify the formulation and procedures for generating the near minimum-time cubic B-spline path. The use of this method to generate the constrained minimum-time joint trajectories for a PUMA 560 robot is discussed as an example

Published in:

IEEE Transactions on Automatic Control  (Volume:35 ,  Issue: 5 )