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Article
Globally Optimal Periodic Robot Joint Trajectories
Journal of the Franklin Institute
  • Daniel J. Simon, Cleveland State University
Document Type
Article
Publication Date
9-1-1996
Disciplines
Abstract

This paper presents a new method for the planning of robot trajectories. The method presented assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and thus is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived in this paper is the ‘best’. The performance criterion used is the integral (over one period) of a combination of the square of the joint velocity and the square of the joint jerk.

DOI
dx.doi.org/10.1016/0016-0032(96)00044-0
Version
Postprint
Citation Information
D. Simon. (1996). Globally Optimal Periodic Robot Joint Trajectories. Journal of the Franklin Institute, 333(5), pp. 659-668, doi: dx.doi.org/10.1016/0016-0032(96)00044-0.