Parametric paths, Cartesian trajectory generation, Complex curves
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). All Faculty Publications. 667.
Cambridge University Press
Ira A. Fulton College of Engineering and Technology
© 1997 Cambridge University Press
Copyright Use Information