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Globally optimal periodic robot joint trajectories

✍ Scribed by Dan Simon

Publisher
Elsevier Science
Year
1996
Tongue
English
Weight
419 KB
Volume
333
Category
Article
ISSN
0016-0032

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✦ Synopsis

This paper presents a new method for the planning of robot trajectories. The method presented assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and thus is particularly suited.for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived in this paper is the 'best '. The performance criterion used is the integral (over one period) oJa combination of the square o/the joint velocity and the square of the joint jerk.

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