Manipulator Cartesian Path Control
- 1 January 1979
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. 9 (11), 702-711
- https://doi.org/10.1109/tsmc.1979.4310109
Abstract
In describing the motion of a manipulator we are concerned with the position to which the hand moves, as well as the path it traverses. Paths made up of straight line segments connected together by smooth transitions with controlled acceleration are proposed. Segments end points may be defined in various fixed and moving Cartesian coordinate systems. The evaluation rate of the straight line motion is analyzed and an interpolation scheme described.Keywords
This publication has 2 references indexed in Scilit:
- WAVE A model based language for manipulator controlIndustrial Robot: the international journal of robotics research and application, 1977
- Modelling, Trajectory Calculation and Servoing of a Computer Controlled ArmPublished by Defense Technical Information Center (DTIC) ,1972