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- W1831997560 abstract "Spline Based Trajectory Planning for Cooperative Crane Lifts S. Vijaya Bhaskar, N. Ramesh Babu, Koshy Varghese Pages 418-423 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844) Abstract: This paper reports the work done towards planning the trajectory for cooperative crane lifts. The location of the hook points between the pick and place positions are determined using a path-planner. These are inputs to the trajectory planner. The goal of the trajectory planner is to connect all the path-points while ensuring the overshoots, velocities, accelerations and jerk for each degree of freedom to be within acceptable limits for the system. A number of alternate techniques are available for defining the trajectory between the path-points. This paper reports on the evaluation of algebraic and trigonometric splines for trajectory planning. Splines of various orders were initially evaluated for a single joint. This evaluation found that 4th order trigonometric splines were most appropriate. Hence, this was applied to a lift problem involving the 2x4 DOF cooperative manipulator system and the results are presented. Keywords: Trajectory planning, Trignometric spline, Cooperative manipulators, Heavy lift planning DOI: https://doi.org/10.22260/ISARC2006/0080 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley" @default.
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- W1831997560 date "2006-10-05" @default.
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- W1831997560 title "Spline Based Trajectory Planning for Cooperative Crane Lifts" @default.
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