Interpolation method for robot trajectory planning
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F15%3A43926610" target="_blank" >RIV/49777513:23520/15:43926610 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/PC.2015.7169997" target="_blank" >http://dx.doi.org/10.1109/PC.2015.7169997</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC.2015.7169997" target="_blank" >10.1109/PC.2015.7169997</a>
Alternative languages
Result language
angličtina
Original language name
Interpolation method for robot trajectory planning
Original language description
This paper deals with the problem of interpolation of generated end-effector trajectories for application in robotics. For complex shaped trajectories there are often many high resolution coincident points generated from CAD/CAM systems or trajectory generators. The preprocessing (refining) is necessary for proceeding these points to the manipulator control system. Two interpolation methods are discussed: Line interpolation with polynomial blending and new proposed method Cubic spline interpolation withrecalculated feed rate. Second introduced method describes how to interpolate the coincident points and compute the feed rate of the interpolation in order to reduce undesirable peaks in acceleration and ensure demanded position, velocity and acceleration profile along the trajectory. The new interpolation algorithm was implemented to the trajectory generator for complex pipe weld inspection robot. Experimental measurements made on control system of real prototype are finally presented
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
<a href="/en/project/TE02000103" target="_blank" >TE02000103: Center for Intelligent Drives and Advanced Machine Control (CIDAM)</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2015 20th International Conference on Process Control
ISBN
978-1-4673-6627-4
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
406-411
Publisher name
IEEE
Place of publication
Neuveden
Event location
Strbske pleso
Event date
Jun 9, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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