Keywords
Parametric paths, Cartesian trajectory generation, Complex curves
Abstract
New methods have been developed to control a mechanism's realtime Cartesian motion along spatially complex curves such as Non-Uniform Rational B-splines (NURBS). The methods dynamically map the critical trajectory parameters between parameter space, Cartesian space, and joint space. Trajectory models that relate Cartesian tool speeds and accelerations to joint speeds and accelerations have been generalized so that they can be applied to most classes of robots and CNC mechanisms.
Original Publication Citation
Robotica 15.3 (May 1997): 263-274.
BYU ScholarsArchive Citation
Red, Edward and Yang, Zhaoxue, "On-line Cartesian trajectory control of mechanisms along complex curves" (1997). Faculty Publications. 667.
https://scholarsarchive.byu.edu/facpub/667
Document Type
Peer-Reviewed Article
Publication Date
1997-05-01
Permanent URL
http://hdl.lib.byu.edu/1877/1157
Publisher
Cambridge University Press
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
© 1997 Cambridge University Press
Copyright Use Information
http://lib.byu.edu/about/copyright/