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• W2079074593 abstract "SUMMARY Interpolation of a robot joint trajectory is realized using trigonometric splines. This original application has several advantages over existing methods (e.g. those using algebraic splines). For example, the computational expense is lower, more constraints can be imposed on the trajectory, obstacle avoidance can be implemented in real time, and smoother trajectories are obtained. Some of the spline parameters can be chosen to minimize an objective function (e.g. minimum jerk or minimum energy). If jerk is minimized, the optimization has a closed form solution. This paper introduces a trajectory interpolation algorithm, discusses a method for path optimization, and includes examples." @default.
• W2079074593 created "2016-06-24" @default.
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• W2079074593 date "1991-12-01" @default.
• W2079074593 modified "2023-09-24" @default.
• W2079074593 title "Optimal trigonometric robot joint trajectories" @default.
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• W2079074593 doi "https://doi.org/10.1017/s0263574700000552" @default.
• W2079074593 hasPublicationYear "1991" @default.
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