论文信息 - A method for trajectory planning of robot manipulators in Cartesian space

A method for trajectory planning of robot manipulators in Cartesian space

Presents a technique for robot continuous-path motion trajectories planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0, T] is divided into m segments, and the coefficients of the polynomial at each segment can be obtained in recurrence form. The problem of minimum time trajectories planning and the determination of m are also studied in the paper.

Yaobin Chen | Yao-Chon Chen | Xiangrong Xu | Xiangrong Xu

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