APPROXIMATION OF RATIONAL CARTESIAN TRAJECTORIES USING LOW-HARMONIC ROBOT JOINT TRAJECTORIES

Guolin Cheng; Q. J. Ge

doi:10.1115/DETC2000/MECH-14214

APPROXIMATION OF RATIONAL CARTESIAN TRAJECTORIES USING LOW-HARMONIC ROBOT JOINT TRAJECTORIES

Guolin Cheng
, Q. J. Ge

Mechanical Engineering

Stony Brook University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper deals with the problem of trajectory synthesis for computer controlled machinery such as robot manipulators. Low-harmonic Bezier and B-spline joint trajectory are used to approximate rational Bezier and B-spline Cartesian trajectories with desired kinematic characteristics. Two examples are given for the case of PUMA 560 robotic arm for synthesizing twoand three-harmonic joint trajectories that approximate a rational B-spline Cartesian motion of degree 6.

Original language	English
Title of host publication	26th Biennial Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers (ASME)
Pages	1449-1460
Number of pages	12
ISBN (Electronic)	9780791835203
DOIs	https://doi.org/10.1115/DETC2000/MECH-14214
State	Published - 2000
Event	ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000 - Baltimore, United States Duration: Sep 10 2000 → Sep 13 2000

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	7B

Conference

Conference	ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000
Country/Territory	United States
City	Baltimore
Period	09/10/00 → 09/13/00

Access to Document

10.1115/DETC2000/MECH-14214

Cite this

@inproceedings{a7237e4009674bd78829e93e53704475,

title = "APPROXIMATION OF RATIONAL CARTESIAN TRAJECTORIES USING LOW-HARMONIC ROBOT JOINT TRAJECTORIES",

abstract = "This paper deals with the problem of trajectory synthesis for computer controlled machinery such as robot manipulators. Low-harmonic Bezier and B-spline joint trajectory are used to approximate rational Bezier and B-spline Cartesian trajectories with desired kinematic characteristics. Two examples are given for the case of PUMA 560 robotic arm for synthesizing twoand three-harmonic joint trajectories that approximate a rational B-spline Cartesian motion of degree 6.",

author = "Guolin Cheng and Ge, \{Q. J.\}",

note = "Publisher Copyright: Copyright {\textcopyright} 2000 by ASME.; ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000 ; Conference date: 10-09-2000 Through 13-09-2000",

year = "2000",

doi = "10.1115/DETC2000/MECH-14214",

language = "English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

pages = "1449--1460",

booktitle = "26th Biennial Mechanisms and Robotics Conference",

}

Cheng, G & Ge, QJ 2000, APPROXIMATION OF RATIONAL CARTESIAN TRAJECTORIES USING LOW-HARMONIC ROBOT JOINT TRAJECTORIES. in 26th Biennial Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 7B, American Society of Mechanical Engineers (ASME), pp. 1449-1460, ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000, Baltimore, United States, 09/10/00. https://doi.org/10.1115/DETC2000/MECH-14214

APPROXIMATION OF RATIONAL CARTESIAN TRAJECTORIES USING LOW-HARMONIC ROBOT JOINT TRAJECTORIES. / Cheng, Guolin; Ge, Q. J.
26th Biennial Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2000. p. 1449-1460 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 7B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Cheng, Guolin

AU - Ge, Q. J.

PY - 2000

Y1 - 2000

N2 - This paper deals with the problem of trajectory synthesis for computer controlled machinery such as robot manipulators. Low-harmonic Bezier and B-spline joint trajectory are used to approximate rational Bezier and B-spline Cartesian trajectories with desired kinematic characteristics. Two examples are given for the case of PUMA 560 robotic arm for synthesizing twoand three-harmonic joint trajectories that approximate a rational B-spline Cartesian motion of degree 6.

AB - This paper deals with the problem of trajectory synthesis for computer controlled machinery such as robot manipulators. Low-harmonic Bezier and B-spline joint trajectory are used to approximate rational Bezier and B-spline Cartesian trajectories with desired kinematic characteristics. Two examples are given for the case of PUMA 560 robotic arm for synthesizing twoand three-harmonic joint trajectories that approximate a rational B-spline Cartesian motion of degree 6.

UR - https://www.scopus.com/pages/publications/85148540542

U2 - 10.1115/DETC2000/MECH-14214

DO - 10.1115/DETC2000/MECH-14214

M3 - Conference contribution

AN - SCOPUS:85148540542

T3 - Proceedings of the ASME Design Engineering Technical Conference

SP - 1449

EP - 1460

BT - 26th Biennial Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000

Y2 - 10 September 2000 through 13 September 2000

ER -

APPROXIMATION OF RATIONAL CARTESIAN TRAJECTORIES USING LOW-HARMONIC ROBOT JOINT TRAJECTORIES

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