ANALYSIS AND ALGORITHM FOR TRAJECTORY PLANNING OF ROBOT MANIPULATORS
Xiangrong Xu, Ma Xiang-feng · Robot · 1988
This paper presents an algorithm of robot CP motion trajectories planning basedupon the work done by J.Y.S.Luh etc.The traveling path is specified by a groupof parameter equations in cartesian coordinate.The time interval〔O,T〕is divided intom segments,and the coefficients of polynomial at each segment are obtained in rec-urrence form.In the final part of the paper,the problem of minimum-time trajec(?)-ories planning is also considered.Compared with the cubic spline function approachpresented by Luh etc.,the proposed algorithm is not only easily converted into com-puter programs,but also needs less computation amount.