Smooth and Accurate Trajectory Planning for Industrial Robots
This paper proposes a smooth and accurate trajectory planning for industrial robots using geodesics. The workspace of a robot is split into positional and orientational parts. A Riemannian metric is given on each space such that the desired motion is a geodesic for the given metric. By regarding joi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2014-04-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1155/2014/342137 |