2009
DOI: 10.1016/j.mechmachtheory.2008.11.003
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Planning of manipulator motion trajectory with higher-degree polynomials use

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Cited by 86 publications
(56 citation statements)
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“…Model-free approaches are often based on geometrical approaches (Dieulot et al, 2006;Biagiotti and Melchiorri, 2008), since the trajectory is defined as a sequence of polynomial functions (Boryga and Grabos´, 2009), splines (Gasparetto and Zanotto, 2007) or Non-Uniform Rational B-Splines (NURBS) (Louembet et al, 2010). Another possible way to generate a trajectory is to use filters Melchiorri, 2010, 2013).…”
Section: Introductionmentioning
confidence: 99%
“…Model-free approaches are often based on geometrical approaches (Dieulot et al, 2006;Biagiotti and Melchiorri, 2008), since the trajectory is defined as a sequence of polynomial functions (Boryga and Grabos´, 2009), splines (Gasparetto and Zanotto, 2007) or Non-Uniform Rational B-Splines (NURBS) (Louembet et al, 2010). Another possible way to generate a trajectory is to use filters Melchiorri, 2010, 2013).…”
Section: Introductionmentioning
confidence: 99%
“…To overcome this shortcoming, higher-order (such as cubic and quartic) polynomials are instead employed to conduct trajectory planning. 1,3,4 In this respect, the most frequently used interpolation functions are splines which are piecewise polynomials, including the cubic splines 5,6 and the B-splines. 7,8 These polynomials-based methods are generally employed to plan the robot trajectories at the joint level, which inevitably leads to inaccurate movements of the end-effector in the Cartesian space.…”
Section: Introductionmentioning
confidence: 99%
“…A significant amount of effort has been made in developing new trajectory generation algorithms that provide smooth motion to high-speed machining systems [3]- [4]. Gasparetto and Zanotto [3] presented a new methodology for fifth-order B-splines and used to compose the overall trajectory of robot manipulators.…”
Section: Introductionmentioning
confidence: 99%
“…Gasparetto and Zanotto [3] presented a new methodology for fifth-order B-splines and used to compose the overall trajectory of robot manipulators. Boryga [4] presented a planning mode of trajectory motion for serial-link manipulators in the higher-degree polynomials application. The linear acceleration profiles of end-effectors, for each coordinate, were planned as the high-degree polynomials.…”
Section: Introductionmentioning
confidence: 99%