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The planning of a straight line trajectory via interactive computer graphics

โœ Scribed by Kesheng Wang; Terje K. Lien

Publisher
Elsevier Science
Year
1989
Tongue
English
Weight
493 KB
Volume
5
Category
Article
ISSN
0736-5845

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โœฆ Synopsis

The planning of a straight line trajectory using an interactive computer graphics simulation of robot manipulator movement is discussed. This new approach to straight line motion planning improves the "bound deviation joint paths" method developed by R.M. Taylor. The new approach has three characteristics: (1) linear interpolation in joint space; (2) unequal intervals for interpolating knot points; (3) using interactive computer graphics to assure that the maximum deviation in the whole segment is less than the pre-specified values. The structure and mathematical basis of a computer program developed for this purpose are presented.

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